/*************************************************************************

 *                                                                       *

 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *

 * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *

 *                                                                       *

 * This library is free software; you can redistribute it and/or         *

 * modify it under the terms of EITHER:                                  *

 *   (1) The GNU Lesser General Public License as published by the Free  *

 *       Software Foundation; either version 2.1 of the License, or (at  *

 *       your option) any later version. The text of the GNU Lesser      *

 *       General Public License is included with this library in the     *

 *       file LICENSE.TXT.                                               *

 *   (2) The BSD-style license that is included with this library in     *

 *       the file LICENSE-BSD.TXT.                                       *

 *                                                                       *

 * This library is distributed in the hope that it will be useful,       *

 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *

 * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *

 *                                                                       *

 *************************************************************************/

// object, body, and world structs.

#ifndef _ODE_OBJECT_H_

#define _ODE_OBJECT_H_

#include <ode/common.h>

#include <ode/memory.h>

#include <ode/mass.h>

#include "array.h"

// some body flags

enum {

  dxBodyFlagFiniteRotation = 1,		// use finite rotations

  dxBodyFlagFiniteRotationAxis = 2,	// use finite rotations only along axis

  dxBodyDisabled = 4,			// body is disabled

  dxBodyNoGravity = 8,			// body is not influenced by gravity

  dxBodyAutoDisable = 16		// enable auto-disable on body

};

// base class that does correct object allocation / deallocation

struct dBase {

  void *operator new (size_t size) { return dAlloc (size); }

  void operator delete (void *ptr, size_t size) { dFree (ptr,size); }

  void *operator new[] (size_t size) { return dAlloc (size); }

  void operator delete[] (void *ptr, size_t size) { dFree (ptr,size); }

};

// base class for bodies and joints

struct dObject : public dBase {

  dxWorld *world;		// world this object is in

  dObject *next;		// next object of this type in list

  dObject **tome;		// pointer to previous object's next ptr

  void *userdata;		// user settable data

  int tag;			// used by dynamics algorithms

};

// auto disable parameters

struct dxAutoDisable {

  dReal idle_time;		// time the body needs to be idle to auto-disable it

  int idle_steps;		// steps the body needs to be idle to auto-disable it

  dReal linear_average_threshold;   // linear (squared) average velocity threshold

  dReal angular_average_threshold;  // angular (squared) average velocity threshold

  unsigned int average_samples;     // size of the average_lvel and average_avel buffers

};

// quick-step parameters

struct dxQuickStepParameters {

  int num_iterations;		// number of SOR iterations to perform

  dReal w;			// the SOR over-relaxation parameter

};

// contact generation parameters

struct dxContactParameters {

  dReal max_vel;		// maximum correcting velocity

  dReal min_depth;		// thickness of 'surface layer'

};

// position vector and rotation matrix for geometry objects that are not

// connected to bodies.

struct dxPosR {

  dVector3 pos;

  dMatrix3 R;

};

struct dxBody : public dObject {

  dxJointNode *firstjoint;	// list of attached joints

  int flags;			// some dxBodyFlagXXX flags

  dGeomID geom;			// first collision geom associated with body

  dMass mass;			// mass parameters about POR

  dMatrix3 invI;		// inverse of mass.I

  dReal invMass;		// 1 / mass.mass

  dxPosR posr;			// position and orientation of point of reference

  dQuaternion q;		// orientation quaternion

  dVector3 lvel,avel;		// linear and angular velocity of POR

  dVector3 facc,tacc;		// force and torque accumulators

  dVector3 finite_rot_axis;	// finite rotation axis, unit length or 0=none

  // auto-disable information

  dxAutoDisable adis;		// auto-disable parameters

  dReal adis_timeleft;		// time left to be idle

  int adis_stepsleft;		// steps left to be idle

  dVector3* average_lvel_buffer;      // buffer for the linear average velocity calculation

  dVector3* average_avel_buffer;      // buffer for the angular average velocity calculation

  unsigned int average_counter;      // counter/index to fill the average-buffers

  int average_ready;        // indicates ( with = 1 ), if the Body's buffers are ready for average-calculations

};

struct dxWorld : public dBase {

  dxBody *firstbody;		// body linked list

  dxJoint *firstjoint;		// joint linked list

  int nb,nj;			// number of bodies and joints in lists

  dVector3 gravity;		// gravity vector (m/s/s)

  dReal global_erp;		// global error reduction parameter

  dReal global_cfm;		// global costraint force mixing parameter

  dxAutoDisable adis;		// auto-disable parameters

  int adis_flag;		// auto-disable flag for new bodies

  dxQuickStepParameters qs;

  dxContactParameters contactp;

};

#endif