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1 /************************************************************************* |
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2 * * |
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3 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * |
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4 * All rights reserved. Email: russ@q12.org Web: www.q12.org * |
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5 * * |
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6 * This library is free software; you can redistribute it and/or * |
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7 * modify it under the terms of EITHER: * |
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8 * (1) The GNU Lesser General Public License as published by the Free * |
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9 * Software Foundation; either version 2.1 of the License, or (at * |
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10 * your option) any later version. The text of the GNU Lesser * |
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11 * General Public License is included with this library in the * |
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12 * file LICENSE.TXT. * |
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13 * (2) The BSD-style license that is included with this library in * |
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14 * the file LICENSE-BSD.TXT. * |
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15 * * |
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16 * This library is distributed in the hope that it will be useful, * |
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17 * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * |
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19 * LICENSE.TXT and LICENSE-BSD.TXT for more details. * |
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20 * * |
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21 *************************************************************************/ |
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22 |
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23 // object, body, and world structs. |
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24 |
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25 |
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26 #ifndef _ODE_OBJECT_H_ |
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27 #define _ODE_OBJECT_H_ |
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28 |
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29 #include <ode/common.h> |
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30 #include <ode/memory.h> |
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31 #include <ode/mass.h> |
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32 #include "array.h" |
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33 |
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34 |
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35 // some body flags |
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36 |
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37 enum { |
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38 dxBodyFlagFiniteRotation = 1, // use finite rotations |
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39 dxBodyFlagFiniteRotationAxis = 2, // use finite rotations only along axis |
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40 dxBodyDisabled = 4, // body is disabled |
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41 dxBodyNoGravity = 8, // body is not influenced by gravity |
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42 dxBodyAutoDisable = 16 // enable auto-disable on body |
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43 }; |
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44 |
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45 |
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46 // base class that does correct object allocation / deallocation |
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47 |
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48 struct dBase { |
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49 void *operator new (size_t size) { return dAlloc (size); } |
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50 void operator delete (void *ptr, size_t size) { dFree (ptr,size); } |
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51 void *operator new[] (size_t size) { return dAlloc (size); } |
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52 void operator delete[] (void *ptr, size_t size) { dFree (ptr,size); } |
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53 }; |
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54 |
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55 |
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56 // base class for bodies and joints |
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57 |
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58 struct dObject : public dBase { |
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59 dxWorld *world; // world this object is in |
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60 dObject *next; // next object of this type in list |
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61 dObject **tome; // pointer to previous object's next ptr |
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62 void *userdata; // user settable data |
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63 int tag; // used by dynamics algorithms |
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64 }; |
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65 |
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66 |
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67 // auto disable parameters |
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68 struct dxAutoDisable { |
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69 dReal idle_time; // time the body needs to be idle to auto-disable it |
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70 int idle_steps; // steps the body needs to be idle to auto-disable it |
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71 dReal linear_average_threshold; // linear (squared) average velocity threshold |
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72 dReal angular_average_threshold; // angular (squared) average velocity threshold |
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73 unsigned int average_samples; // size of the average_lvel and average_avel buffers |
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74 }; |
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75 |
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76 |
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77 // quick-step parameters |
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78 struct dxQuickStepParameters { |
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79 int num_iterations; // number of SOR iterations to perform |
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80 dReal w; // the SOR over-relaxation parameter |
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81 }; |
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82 |
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83 |
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84 // contact generation parameters |
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85 struct dxContactParameters { |
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86 dReal max_vel; // maximum correcting velocity |
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87 dReal min_depth; // thickness of 'surface layer' |
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88 }; |
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89 |
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90 |
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91 |
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92 // position vector and rotation matrix for geometry objects that are not |
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93 // connected to bodies. |
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94 |
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95 struct dxPosR { |
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96 dVector3 pos; |
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97 dMatrix3 R; |
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98 }; |
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99 |
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100 struct dxBody : public dObject { |
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101 dxJointNode *firstjoint; // list of attached joints |
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102 int flags; // some dxBodyFlagXXX flags |
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103 dGeomID geom; // first collision geom associated with body |
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104 dMass mass; // mass parameters about POR |
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105 dMatrix3 invI; // inverse of mass.I |
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106 dReal invMass; // 1 / mass.mass |
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107 dxPosR posr; // position and orientation of point of reference |
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108 dQuaternion q; // orientation quaternion |
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109 dVector3 lvel,avel; // linear and angular velocity of POR |
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110 dVector3 facc,tacc; // force and torque accumulators |
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111 dVector3 finite_rot_axis; // finite rotation axis, unit length or 0=none |
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112 |
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113 // auto-disable information |
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114 dxAutoDisable adis; // auto-disable parameters |
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115 dReal adis_timeleft; // time left to be idle |
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116 int adis_stepsleft; // steps left to be idle |
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117 dVector3* average_lvel_buffer; // buffer for the linear average velocity calculation |
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118 dVector3* average_avel_buffer; // buffer for the angular average velocity calculation |
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119 unsigned int average_counter; // counter/index to fill the average-buffers |
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120 int average_ready; // indicates ( with = 1 ), if the Body's buffers are ready for average-calculations |
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121 }; |
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122 |
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123 |
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124 struct dxWorld : public dBase { |
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125 dxBody *firstbody; // body linked list |
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126 dxJoint *firstjoint; // joint linked list |
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127 int nb,nj; // number of bodies and joints in lists |
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128 dVector3 gravity; // gravity vector (m/s/s) |
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129 dReal global_erp; // global error reduction parameter |
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130 dReal global_cfm; // global costraint force mixing parameter |
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131 dxAutoDisable adis; // auto-disable parameters |
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132 int adis_flag; // auto-disable flag for new bodies |
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133 dxQuickStepParameters qs; |
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134 dxContactParameters contactp; |
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135 }; |
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136 |
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137 |
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138 #endif |