source: code/branches/physics/src/ogreode/OgreOdeWorld.h @ 1989

#ifndef _OGREODEWORLD_H_
#define _OGREODEWORLD_H_

#include "OgreOdePreReqs.h"

#include <map>
#include <OgreVector3.h>

#include "OgreOdeMaintainedList.h"
#include "OgreOdeBody.h"
#include "OgreOdeJoint.h"
#include "OgreOdeGeometry.h"
#include "OgreOdeSpace.h"

namespace OgreOde 
{
        /** The main class which you will use to simulate your world.
     * 
         * This is the core class of OgreOde, it is directly analogous to the ODE world except that
         * in OgreOde you can have only one world, which is why it is Singleton.
         *
         * A World is a container for all the bodies and geometries in you simulation. You also
         * use it to set global options for things like gravity, ERP, CFM and automatic sleeping.
         * Also, the World is what you step when you want to advance your simulation by a certain time
         * period.
         */
        class _OgreOdeExport World
    {
        friend class Body;
                friend class JointGroup;
                friend class Joint;
                friend class Space;
                friend class Geometry;
                friend class StepHandler;

        public:
                /** Construct a new World.
                 * 
                 * You will need to call this to create the World into which you cabn place your physical objects.
                 * The World requires a reference to the scene manager you are using in order to create things
                 * like nodes for debug objects and to obtain configuration options for world geometry.
                 * 
                 * \param manager The scene manager you are using.
                 */
                World(Ogre::SceneManager* manager);
                ~World();

                void setGravity(const Ogre::Vector3& gravity = Ogre::Vector3::ZERO);
                const Ogre::Vector3& getGravity();

                void setHistorySize (size_t historySize);
                size_t getHistorySize () const;

                void setERP(Ogre::Real erp = 0.2);
                Ogre::Real getERP();
                void setCFM(Ogre::Real cfm = 10e-5);
                Ogre::Real getCFM();

                void setContactCorrectionVelocity(Ogre::Real velocity = 0.1);
                void setContactSurfaceLayer(Ogre::Real layer = 0.001);

                void setAutoSleep(bool auto_sleep = false);
                bool getAutoSleep();
                void setAutoSleepLinearThreshold(Ogre::Real linear_threshold = 0.01);
                Ogre::Real getAutoSleepLinearThreshold();
                void setAutoSleepAngularThreshold(Ogre::Real angular_threshold = 0.01);
                Ogre::Real getAutoSleepAngularThreshold();
                void setAutoSleepSteps(int steps = 10);
                int getAutoSleepSteps();
                void setAutoSleepTime(Ogre::Real time = 0);
                Ogre::Real getAutoSleepTime(); 
        void setAutoSleepAverageSamplesCount(unsigned int  time = 10);
        size_t getAutoSleepAverageSamplesCount();
                inline void step(Ogre::Real stepsize); 
        inline void quickStep(Ogre::Real stepsize);
        inline void fastStep(Ogre::Real stepsize);

                void setQuickStepIterations(int iterations);
                int getQuickStepIterations();

                Body* findBody(Ogre::SceneNode* node);
                Body* findBody(const Ogre::String& name);

                inline void clearContacts();

                void setCollisionListener(CollisionListener* collision_listener);
                CollisionListener* getCollisionListener();

                void setShowDebugGeometries(bool show);
        bool getShowDebugGeometries(){return _show_debug_geoms;}

        void setShowDebugContact(bool show);
        bool getShowDebugContact(){return _show_debug_contact;}

                inline void notifyGeometry(Body* body);

                Space* getDefaultSpace(){return _default_space;}
                void setDefaultSpace(Space* space);

                inline Ogre::SceneManager* getSceneManager(){return _manager;}

                void setDamping(Ogre::Real linear_damping,Ogre::Real angular_damping);
                Ogre::Real getLinearDamping();
                Ogre::Real getAngularDamping();

                inline void synchronise();
        
                inline void updateDrawState();
                inline void updatePreviousState();
                inline void updateCurrentState();
                inline void interpolateDrawState(const Ogre::Real alpha);


                inline MaintainedList<Body>                     &getBodyList()          {return _body_list;}
                inline MaintainedList<Joint>            &getJointList()         {return _joint_list;}
                inline MaintainedList<JointGroup>       &getJointGroupList(){return _joint_group_list;}
                inline MaintainedList<Geometry>         &getGeometryList()      {return _geometry_list;}
                inline MaintainedList<Space>            &getSpaceList()         {return _space_list;}

        inline dWorldID                            getWorldID();
        protected:

        inline dJointGroupID                       getContactGroupID();
                static void                         collisionCallback(void *data,
                                                            dGeomID geom_a,
                                                            dGeomID geom_b);

        protected:
                dWorldID                            _world;
                dJointGroupID               _contacts;

                Space*                          _default_space;
                
                static CollisionListener*   _collision_listener;

                MaintainedList<Body>            _body_list;
                MaintainedList<Joint>           _joint_list;
                MaintainedList<JointGroup>      _joint_group_list;
                MaintainedList<Geometry>        _geometry_list;
                MaintainedList<Space>           _space_list;

        bool                                _show_debug_geoms;
        bool                                _show_debug_contact;

                Ogre::SceneManager*             _manager;

                Ogre::Vector3               _gravity;
                dReal                       _linear_damping,_angular_damping;
                size_t                      _history_size;
        };


    //------------------------------------------------------------------------------------------------
    //INLINED Methods
    //------------------------------------------------------------------------------------------------
    //------------------------------------------------------------------------------------------------
    inline dWorldID World::getWorldID()
    {
        return _world;
    }
    //------------------------------------------------------------------------------------------------
    inline dJointGroupID World::getContactGroupID()
    {
        return _contacts;
    }
    //------------------------------------------------------------------------------------------------
    inline void World::notifyGeometry(Body* body)
    {
        _geometry_list.notify(body);
    }
    //------------------------------------------------------------------------------------------------
    inline void World::synchronise()
    {
        _body_list.synchronise ();
    }
    //------------------------------------------------------------------------------------------------
    inline void World::updateDrawState()
    {
        _body_list.updateDrawState ();
        if (_show_debug_contact)
            _geometry_list.updateDebugContact();
    }
    //------------------------------------------------------------------------------------------------
    inline void World::interpolateDrawState(const Ogre::Real alpha)
    {
        _body_list.interpolateDrawState(alpha);
        if (_show_debug_contact)
            _geometry_list.updateDebugContact();
    }
    //------------------------------------------------------------------------------------------------
    inline void World::updatePreviousState()
    {
        _body_list.updatePreviousState();
    }
    //------------------------------------------------------------------------------------------------
    inline void World::updateCurrentState()
    {
        _body_list.updateCurrentState ();
    }
    //------------------------------------------------------------------------------------------------
    inline void World::clearContacts()
    {
        dJointGroupEmpty(_contacts);
    }
    //------------------------------------------------------------------------------------------------
    inline void World::step(Ogre::Real stepsize)
    {
        dWorldStep(_world,(dReal)stepsize); 
    }
    //------------------------------------------------------------------------------------------------
    inline void World::quickStep(Ogre::Real stepsize)
    {
        dWorldQuickStep(_world,(dReal)stepsize);
    }
    //------------------------------------------------------------------------------------------------
    inline void World::fastStep(Ogre::Real stepsize)
    {
        dWorldStepFast1(_world,(dReal)stepsize,20);
    }
}
#endif