first checkin of ode blender engine files

source/gameengine/Physics/BlOde/OdePhysicsEnvironment.h

@@ -0,0 +1,73 @@
+/**
+ * $Id$
+ *
+ * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
+ *
+ * The contents of this file may be used under the terms of either the GNU
+ * General Public License Version 2 or later (the "GPL", see
+ * http://www.gnu.org/licenses/gpl.html ), or the Blender License 1.0 or
+ * later (the "BL", see http://www.blender.org/BL/ ) which has to be
+ * bought from the Blender Foundation to become active, in which case the
+ * above mentioned GPL option does not apply.
+ *
+ * The Original Code is Copyright (C) 2002 by NaN Holding BV.
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): none yet.
+ *
+ * ***** END GPL/BL DUAL LICENSE BLOCK *****
+ */
+#ifndef _ODEPHYSICSENVIRONMENT
+#define _ODEPHYSICSENVIRONMENT
+
+
+#include "PHY_IPhysicsEnvironment.h"
+
+
+/**
+*	Physics Environment takes care of stepping the simulation and is a container for physics entities (rigidbodies,constraints, materials etc.)
+*	A derived class may be able to 'construct' entities by loading and/or converting
+*/
+class ODEPhysicsEnvironment : public PHY_IPhysicsEnvironment
+{
+
+public:
+	ODEPhysicsEnvironment();
+	virtual		~ODEPhysicsEnvironment();
+// Perform an integration step of duration 'timeStep'.
+	virtual	void		proceed(double	timeStep);
+	virtual	void		setGravity(float x,float y,float z);
+	virtual int			createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
+			float pivotX,float pivotY,float pivotZ,
+			float axisX,float axisY,float axisZ);
+
+	virtual void		removeConstraint(int constraintid);
+	virtual PHY_IPhysicsController* rayTest(void* ignoreClient,float fromX,float fromY,float fromZ, float toX,float toY,float toZ, 
+									float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ);
+
+	struct dxWorld*	GetOdeWorld() { return m_OdeWorld;	};
+	struct	dxSpace* GetOdeSpace() { return m_OdeSpace;};
+
+private:
+
+
+	// ODE physics response
+	struct	dxWorld*				m_OdeWorld;
+	// ODE collision detection
+	struct	dxSpace*				m_OdeSpace;
+	void	ClearOdeContactGroup();
+	struct dxJointGroup*		m_OdeContactGroup;
+	struct dxJointGroup*		m_JointGroup;
+
+	static void OdeNearCallback(void *data, struct dxGeom* o1, struct dxGeom* o2);
+	int	GetNumOdeContacts();
+
+};
+
+#endif //_ODEPHYSICSENVIRONMENT
+
+
+	
+