208 lines
8.7 KiB
Ada
208 lines
8.7 KiB
Ada
with
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physics.Model,
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physics.Shape,
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physics.Object,
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physics.Joint.DoF6,
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physics.Joint.hinge,
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physics.Joint.cone_twist,
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physics.Joint.slider,
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physics.Joint.ball;
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package physics.Space
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--
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-- Models a static/dynamic physics space.
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--
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is
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type Item is limited interface;
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type View is access all Item'Class;
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---------
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--- Forge
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--
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procedure free (Self : in out View);
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procedure destruct (Self : in out Item) is abstract;
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--------------
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--- Attributes
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--
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procedure add (Self : in out Item; the_Object : in Object.view) is abstract;
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procedure rid (Self : in out Item; the_Object : in Object.view) is abstract;
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procedure evolve (Self : in out Item; By : in Duration) is abstract;
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type Real_view is access all Real;
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--- Contacts
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--
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type a_Contact is
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record
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Site : Vector_3;
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end record;
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type Contacts is array (Positive range 1 .. 4) of a_Contact;
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--- Manifolds
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--
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type a_Manifold is
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record
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Objects : Object.views (1 .. 2);
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Contact : a_Contact;
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end record;
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function manifold_Count (Self : in Item) return Natural is abstract;
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function Manifold (Self : access Item; Index : in Positive) return a_Manifold is abstract;
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--- Ray Casting
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--
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type ray_Collision is
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record
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near_Object : Object.view;
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hit_Fraction : Real;
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Normal_world : Vector_3;
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Site_world : Vector_3;
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end record;
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function cast_Ray (Self : access Item; From, To : in Vector_3) return ray_Collision is abstract;
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--- Bounds
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--
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procedure update_Bounds (Self : in out Item; of_Obect : in Object.view) is abstract;
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-----------
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--- Factory
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--
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unsupported_Shape : exception;
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--- Physical Objects
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--
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function new_Object (Self : access Item; of_Shape : in Shape.view;
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of_Mass : in Real;
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Friction : in Real;
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Restitution : in Real;
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at_Site : in Vector_3;
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is_Kinematic : in Boolean) return Object.view is abstract;
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function object_Count (Self : in Item) return Natural is abstract;
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--- 3D
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--
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-- Shapes
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--
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function new_Shape (Self : access Item; from_Model : in Model.view) return Shape.view is abstract;
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function new_box_Shape (Self : access Item; half_Extents : in Vector_3 := [0.5, 0.5, 0.5]) return Shape.view is abstract;
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function new_sphere_Shape (Self : access Item; Radius : in Real := 0.5) return Shape.view is abstract;
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function new_capsule_Shape (Self : access Item; Radius : in Real := 0.5;
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Height : in Real) return Shape.view is abstract;
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function new_cone_Shape (Self : access Item; Radius : in Real := 0.5;
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Height : in Real := 1.0) return Shape.view is abstract;
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function new_cylinder_Shape (Self : access Item; half_Extents : in Vector_3 := [0.5, 0.5, 0.5]) return Shape.view is abstract;
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function new_heightfield_Shape (Self : access Item; Heightfield : in out physics.Heightfield;
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Scale : in Vector_3) return Shape.view is abstract;
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function new_multisphere_Shape (Self : access Item; Sites : in Vector_3_array;
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Radii : in Vector) return Shape.view is abstract;
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function new_plane_Shape (Self : access Item; Normal : in Vector_3 := [0.0, 1.0, 0.0];
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Offset : in Real := 0.0) return Shape.view is abstract;
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function new_convex_hull_Shape (Self : access Item; Points : in Vector_3_array) return Shape.view is abstract;
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function new_mesh_Shape (Self : access Item; Points : access Geometry_3D.a_Model) return Shape.view is abstract;
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-- Joints
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--
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function new_hinge_Joint (Self : access Item; Object_A,
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Object_B : in Object.view;
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Anchor_in_A,
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Anchor_in_B : in Vector_3;
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pivot_Axis : in Vector_3;
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low_Limit,
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high_Limit : in Real;
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collide_Connected : in Boolean) return Joint.hinge.view is abstract;
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function new_hinge_Joint (Self : access Item; Object_A,
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Object_B : in Object.view;
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Frame_A,
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Frame_B : in Matrix_4x4;
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low_Limit,
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high_Limit : in Real;
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collide_Connected : in Boolean) return Joint.hinge.view is abstract;
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function new_hinge_Joint (Self : access Item; Object_A : in Object.view;
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Frame_A : in Matrix_4x4) return Joint.hinge.view is abstract;
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function new_DoF6_Joint (Self : access Item; Object_A,
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Object_B : in Object.view;
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Frame_A,
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Frame_B : in Matrix_4x4) return Joint.DoF6.view is abstract;
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function new_ball_Joint (Self : access Item; Object_A,
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Object_B : in Object.view;
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Pivot_in_A,
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Pivot_in_B : in Vector_3) return Joint.ball.view is abstract;
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function new_slider_Joint (Self : access Item; Object_A,
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Object_B : in Object.view;
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Frame_A,
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Frame_B : in Matrix_4x4) return Joint.slider.view is abstract;
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function new_cone_twist_Joint (Self : access Item; Object_A,
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Object_B : in Object.view;
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Frame_A,
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Frame_B : in Matrix_4x4) return Joint.cone_twist.view is abstract;
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type joint_Cursor is interface;
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procedure next (Cursor : in out joint_Cursor) is abstract;
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function has_Element (Cursor : in joint_Cursor) return Boolean is abstract;
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function Element (Cursor : in joint_Cursor) return Joint.view is abstract;
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function first_Joint (Self : in Item) return joint_Cursor'Class is abstract;
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--- 2D
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--
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--- Shapes
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--
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type polygon_Vertices is array (Positive range <>) of aliased Vector_2;
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function new_circle_Shape (Self : access Item; Radius : in Real := 0.5) return Shape.view is abstract;
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function new_polygon_Shape (Self : access Item; Vertices : in polygon_Vertices) return Shape.view is abstract;
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------------
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-- Dynamics
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--
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function Gravity (Self : in Item) return Vector_3 is abstract;
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procedure Gravity_is (Self : in out Item; Now : in Vector_3) is abstract;
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procedure add (Self : in out Item; the_Joint : in Joint.view) is abstract;
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procedure rid (Self : in out Item; the_Joint : in Joint.view) is abstract;
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procedure set_Joint_local_Anchor
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(Self : in out Item; the_Joint : in Joint.view;
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is_Anchor_A : in Boolean;
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local_Anchor : in Vector_3) is abstract;
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end physics.Space;
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