1733 lines
37 KiB
C++
1733 lines
37 KiB
C++
/*************************************************************************
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* *
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* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
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* All rights reserved. Email: russ@q12.org Web: www.q12.org *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of EITHER: *
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* (1) The GNU Lesser General Public License as published by the Free *
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* Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. The text of the GNU Lesser *
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* General Public License is included with this library in the *
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* file LICENSE.TXT. *
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* (2) The BSD-style license that is included with this library in *
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* the file LICENSE-BSD.TXT. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
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* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
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* *
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*************************************************************************/
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#ifdef _MSC_VER
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#pragma warning(disable:4291) // for VC++, no complaints about "no matching operator delete found"
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#endif
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// this source file is mostly concerned with the data structures, not the
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// numerics.
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#include "objects.h"
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#include <ode/ode.h>
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#include "joint.h"
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#include <ode/odemath.h>
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#include <ode/matrix.h>
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#include "step.h"
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#include "quickstep.h"
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#include "util.h"
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#include <ode/memory.h>
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#include <ode/error.h>
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// misc defines
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#define ALLOCA dALLOCA16
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//****************************************************************************
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// utility
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static inline void initObject (dObject *obj, dxWorld *w)
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{
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obj->world = w;
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obj->next = 0;
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obj->tome = 0;
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obj->userdata = 0;
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obj->tag = 0;
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}
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// add an object `obj' to the list who's head pointer is pointed to by `first'.
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static inline void addObjectToList (dObject *obj, dObject **first)
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{
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obj->next = *first;
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obj->tome = first;
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if (*first) (*first)->tome = &obj->next;
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(*first) = obj;
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}
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// remove the object from the linked list
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static inline void removeObjectFromList (dObject *obj)
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{
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if (obj->next) obj->next->tome = obj->tome;
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*(obj->tome) = obj->next;
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// safeguard
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obj->next = 0;
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obj->tome = 0;
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}
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// remove the joint from neighbour lists of all connected bodies
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static void removeJointReferencesFromAttachedBodies (dxJoint *j)
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{
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for (int i=0; i<2; i++) {
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dxBody *body = j->node[i].body;
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if (body) {
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dxJointNode *n = body->firstjoint;
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dxJointNode *last = 0;
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while (n) {
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if (n->joint == j) {
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if (last) last->next = n->next;
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else body->firstjoint = n->next;
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break;
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}
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last = n;
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n = n->next;
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}
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}
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}
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j->node[0].body = 0;
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j->node[0].next = 0;
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j->node[1].body = 0;
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j->node[1].next = 0;
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}
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//****************************************************************************
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// debugging
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// see if an object list loops on itself (if so, it's bad).
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static int listHasLoops (dObject *first)
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{
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if (first==0 || first->next==0) return 0;
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dObject *a=first,*b=first->next;
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int skip=0;
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while (b) {
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if (a==b) return 1;
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b = b->next;
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if (skip) a = a->next;
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skip ^= 1;
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}
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return 0;
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}
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// check the validity of the world data structures
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static void checkWorld (dxWorld *w)
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{
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dxBody *b;
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dxJoint *j;
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// check there are no loops
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if (listHasLoops (w->firstbody)) dDebug (0,"body list has loops");
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if (listHasLoops (w->firstjoint)) dDebug (0,"joint list has loops");
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// check lists are well formed (check `tome' pointers)
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for (b=w->firstbody; b; b=(dxBody*)b->next) {
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if (b->next && b->next->tome != &b->next)
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dDebug (0,"bad tome pointer in body list");
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}
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for (j=w->firstjoint; j; j=(dxJoint*)j->next) {
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if (j->next && j->next->tome != &j->next)
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dDebug (0,"bad tome pointer in joint list");
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}
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// check counts
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int n = 0;
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for (b=w->firstbody; b; b=(dxBody*)b->next) n++;
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if (w->nb != n) dDebug (0,"body count incorrect");
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n = 0;
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for (j=w->firstjoint; j; j=(dxJoint*)j->next) n++;
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if (w->nj != n) dDebug (0,"joint count incorrect");
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// set all tag values to a known value
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static int count = 0;
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count++;
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for (b=w->firstbody; b; b=(dxBody*)b->next) b->tag = count;
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for (j=w->firstjoint; j; j=(dxJoint*)j->next) j->tag = count;
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// check all body/joint world pointers are ok
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for (b=w->firstbody; b; b=(dxBody*)b->next) if (b->world != w)
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dDebug (0,"bad world pointer in body list");
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for (j=w->firstjoint; j; j=(dxJoint*)j->next) if (j->world != w)
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dDebug (0,"bad world pointer in joint list");
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/*
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// check for half-connected joints - actually now these are valid
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for (j=w->firstjoint; j; j=(dxJoint*)j->next) {
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if (j->node[0].body || j->node[1].body) {
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if (!(j->node[0].body && j->node[1].body))
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dDebug (0,"half connected joint found");
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}
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}
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*/
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// check that every joint node appears in the joint lists of both bodies it
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// attaches
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for (j=w->firstjoint; j; j=(dxJoint*)j->next) {
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for (int i=0; i<2; i++) {
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if (j->node[i].body) {
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int ok = 0;
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for (dxJointNode *n=j->node[i].body->firstjoint; n; n=n->next) {
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if (n->joint == j) ok = 1;
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}
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if (ok==0) dDebug (0,"joint not in joint list of attached body");
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}
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}
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}
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// check all body joint lists (correct body ptrs)
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for (b=w->firstbody; b; b=(dxBody*)b->next) {
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for (dxJointNode *n=b->firstjoint; n; n=n->next) {
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if (&n->joint->node[0] == n) {
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if (n->joint->node[1].body != b)
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dDebug (0,"bad body pointer in joint node of body list (1)");
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}
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else {
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if (n->joint->node[0].body != b)
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dDebug (0,"bad body pointer in joint node of body list (2)");
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}
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if (n->joint->tag != count) dDebug (0,"bad joint node pointer in body");
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}
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}
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// check all body pointers in joints, check they are distinct
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for (j=w->firstjoint; j; j=(dxJoint*)j->next) {
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if (j->node[0].body && (j->node[0].body == j->node[1].body))
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dDebug (0,"non-distinct body pointers in joint");
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if ((j->node[0].body && j->node[0].body->tag != count) ||
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(j->node[1].body && j->node[1].body->tag != count))
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dDebug (0,"bad body pointer in joint");
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}
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}
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void dWorldCheck (dxWorld *w)
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{
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checkWorld (w);
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}
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//****************************************************************************
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// body
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dxWorld* dBodyGetWorld (dxBody* b)
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{
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dAASSERT (b);
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return b->world;
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}
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dxBody *dBodyCreate (dxWorld *w)
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{
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dAASSERT (w);
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dxBody *b = new dxBody;
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initObject (b,w);
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b->firstjoint = 0;
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b->flags = 0;
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b->geom = 0;
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b->average_lvel_buffer = 0;
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b->average_avel_buffer = 0;
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dMassSetParameters (&b->mass,1,0,0,0,1,1,1,0,0,0);
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dSetZero (b->invI,4*3);
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b->invI[0] = 1;
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b->invI[5] = 1;
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b->invI[10] = 1;
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b->invMass = 1;
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dSetZero (b->posr.pos,4);
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dSetZero (b->q,4);
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b->q[0] = 1;
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dRSetIdentity (b->posr.R);
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dSetZero (b->lvel,4);
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dSetZero (b->avel,4);
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dSetZero (b->facc,4);
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dSetZero (b->tacc,4);
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dSetZero (b->finite_rot_axis,4);
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addObjectToList (b,(dObject **) &w->firstbody);
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w->nb++;
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// set auto-disable parameters
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b->average_avel_buffer = b->average_lvel_buffer = 0; // no buffer at beginnin
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dBodySetAutoDisableDefaults (b); // must do this after adding to world
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b->adis_stepsleft = b->adis.idle_steps;
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b->adis_timeleft = b->adis.idle_time;
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b->average_counter = 0;
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b->average_ready = 0; // average buffer not filled on the beginning
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dBodySetAutoDisableAverageSamplesCount(b, b->adis.average_samples);
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return b;
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}
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void dBodyDestroy (dxBody *b)
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{
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dAASSERT (b);
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// all geoms that link to this body must be notified that the body is about
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// to disappear. note that the call to dGeomSetBody(geom,0) will result in
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// dGeomGetBodyNext() returning 0 for the body, so we must get the next body
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// before setting the body to 0.
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dxGeom *next_geom = 0;
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for (dxGeom *geom = b->geom; geom; geom = next_geom) {
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next_geom = dGeomGetBodyNext (geom);
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dGeomSetBody (geom,0);
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}
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// detach all neighbouring joints, then delete this body.
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dxJointNode *n = b->firstjoint;
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while (n) {
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// sneaky trick to speed up removal of joint references (black magic)
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n->joint->node[(n == n->joint->node)].body = 0;
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dxJointNode *next = n->next;
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n->next = 0;
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removeJointReferencesFromAttachedBodies (n->joint);
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n = next;
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}
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removeObjectFromList (b);
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b->world->nb--;
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// delete the average buffers
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if(b->average_lvel_buffer)
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{
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delete[] (b->average_lvel_buffer);
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b->average_lvel_buffer = 0;
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}
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if(b->average_avel_buffer)
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{
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delete[] (b->average_avel_buffer);
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b->average_avel_buffer = 0;
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}
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delete b;
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}
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void dBodySetData (dBodyID b, void *data)
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{
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dAASSERT (b);
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b->userdata = data;
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}
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void *dBodyGetData (dBodyID b)
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{
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dAASSERT (b);
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return b->userdata;
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}
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void dBodySetPosition (dBodyID b, dReal x, dReal y, dReal z)
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{
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dAASSERT (b);
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b->posr.pos[0] = x;
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b->posr.pos[1] = y;
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b->posr.pos[2] = z;
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// notify all attached geoms that this body has moved
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for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
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dGeomMoved (geom);
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}
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void dBodySetRotation (dBodyID b, const dMatrix3 R)
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{
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dAASSERT (b && R);
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dQuaternion q;
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dRtoQ (R,q);
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dNormalize4 (q);
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b->q[0] = q[0];
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b->q[1] = q[1];
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b->q[2] = q[2];
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b->q[3] = q[3];
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dQtoR (b->q,b->posr.R);
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// notify all attached geoms that this body has moved
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for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
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dGeomMoved (geom);
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}
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void dBodySetQuaternion (dBodyID b, const dQuaternion q)
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{
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dAASSERT (b && q);
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b->q[0] = q[0];
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b->q[1] = q[1];
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b->q[2] = q[2];
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b->q[3] = q[3];
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dNormalize4 (b->q);
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dQtoR (b->q,b->posr.R);
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// notify all attached geoms that this body has moved
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for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
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dGeomMoved (geom);
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}
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void dBodySetLinearVel (dBodyID b, dReal x, dReal y, dReal z)
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{
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dAASSERT (b);
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b->lvel[0] = x;
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b->lvel[1] = y;
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b->lvel[2] = z;
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}
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void dBodySetAngularVel (dBodyID b, dReal x, dReal y, dReal z)
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{
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dAASSERT (b);
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b->avel[0] = x;
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b->avel[1] = y;
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b->avel[2] = z;
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}
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const dReal * dBodyGetPosition (dBodyID b)
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{
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dAASSERT (b);
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return b->posr.pos;
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}
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void dBodyCopyPosition (dBodyID b, dVector3 pos)
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{
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dAASSERT (b);
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dReal* src = b->posr.pos;
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pos[0] = src[0];
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pos[1] = src[1];
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pos[2] = src[2];
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}
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const dReal * dBodyGetRotation (dBodyID b)
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{
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dAASSERT (b);
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return b->posr.R;
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}
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void dBodyCopyRotation (dBodyID b, dMatrix3 R)
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{
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dAASSERT (b);
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const dReal* src = b->posr.R;
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R[0] = src[0];
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R[1] = src[1];
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R[2] = src[2];
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R[3] = src[3];
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R[4] = src[4];
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R[5] = src[5];
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R[6] = src[6];
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R[7] = src[7];
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R[8] = src[8];
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R[9] = src[9];
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R[10] = src[10];
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R[11] = src[11];
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}
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const dReal * dBodyGetQuaternion (dBodyID b)
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{
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dAASSERT (b);
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return b->q;
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}
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void dBodyCopyQuaternion (dBodyID b, dQuaternion quat)
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{
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dAASSERT (b);
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dReal* src = b->q;
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quat[0] = src[0];
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quat[1] = src[1];
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quat[2] = src[2];
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quat[3] = src[3];
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}
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const dReal * dBodyGetLinearVel (dBodyID b)
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{
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dAASSERT (b);
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return b->lvel;
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}
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const dReal * dBodyGetAngularVel (dBodyID b)
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{
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dAASSERT (b);
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return b->avel;
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}
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void dBodySetMass (dBodyID b, const dMass *mass)
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{
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dAASSERT (b && mass );
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dIASSERT(dMassCheck(mass));
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// The centre of mass must be at the origin.
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// Use dMassTranslate( mass, -mass->c[0], -mass->c[1], -mass->c[2] ) to correct it.
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dUASSERT( fabs( mass->c[0] ) <= dEpsilon &&
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fabs( mass->c[1] ) <= dEpsilon &&
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fabs( mass->c[2] ) <= dEpsilon, "The centre of mass must be at the origin." )
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memcpy (&b->mass,mass,sizeof(dMass));
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if (dInvertPDMatrix (b->mass.I,b->invI,3)==0) {
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dDEBUGMSG ("inertia must be positive definite!");
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dRSetIdentity (b->invI);
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}
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b->invMass = dRecip(b->mass.mass);
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}
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void dBodyGetMass (dBodyID b, dMass *mass)
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{
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dAASSERT (b && mass);
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memcpy (mass,&b->mass,sizeof(dMass));
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}
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void dBodyAddForce (dBodyID b, dReal fx, dReal fy, dReal fz)
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{
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dAASSERT (b);
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b->facc[0] += fx;
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b->facc[1] += fy;
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b->facc[2] += fz;
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}
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void dBodyAddTorque (dBodyID b, dReal fx, dReal fy, dReal fz)
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{
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dAASSERT (b);
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b->tacc[0] += fx;
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b->tacc[1] += fy;
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b->tacc[2] += fz;
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}
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void dBodyAddRelForce (dBodyID b, dReal fx, dReal fy, dReal fz)
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{
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dAASSERT (b);
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dVector3 t1,t2;
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t1[0] = fx;
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t1[1] = fy;
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t1[2] = fz;
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t1[3] = 0;
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dMULTIPLY0_331 (t2,b->posr.R,t1);
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b->facc[0] += t2[0];
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|
b->facc[1] += t2[1];
|
|
b->facc[2] += t2[2];
|
|
}
|
|
|
|
|
|
void dBodyAddRelTorque (dBodyID b, dReal fx, dReal fy, dReal fz)
|
|
{
|
|
dAASSERT (b);
|
|
dVector3 t1,t2;
|
|
t1[0] = fx;
|
|
t1[1] = fy;
|
|
t1[2] = fz;
|
|
t1[3] = 0;
|
|
dMULTIPLY0_331 (t2,b->posr.R,t1);
|
|
b->tacc[0] += t2[0];
|
|
b->tacc[1] += t2[1];
|
|
b->tacc[2] += t2[2];
|
|
}
|
|
|
|
|
|
void dBodyAddForceAtPos (dBodyID b, dReal fx, dReal fy, dReal fz,
|
|
dReal px, dReal py, dReal pz)
|
|
{
|
|
dAASSERT (b);
|
|
b->facc[0] += fx;
|
|
b->facc[1] += fy;
|
|
b->facc[2] += fz;
|
|
dVector3 f,q;
|
|
f[0] = fx;
|
|
f[1] = fy;
|
|
f[2] = fz;
|
|
q[0] = px - b->posr.pos[0];
|
|
q[1] = py - b->posr.pos[1];
|
|
q[2] = pz - b->posr.pos[2];
|
|
dCROSS (b->tacc,+=,q,f);
|
|
}
|
|
|
|
|
|
void dBodyAddForceAtRelPos (dBodyID b, dReal fx, dReal fy, dReal fz,
|
|
dReal px, dReal py, dReal pz)
|
|
{
|
|
dAASSERT (b);
|
|
dVector3 prel,f,p;
|
|
f[0] = fx;
|
|
f[1] = fy;
|
|
f[2] = fz;
|
|
f[3] = 0;
|
|
prel[0] = px;
|
|
prel[1] = py;
|
|
prel[2] = pz;
|
|
prel[3] = 0;
|
|
dMULTIPLY0_331 (p,b->posr.R,prel);
|
|
b->facc[0] += f[0];
|
|
b->facc[1] += f[1];
|
|
b->facc[2] += f[2];
|
|
dCROSS (b->tacc,+=,p,f);
|
|
}
|
|
|
|
|
|
void dBodyAddRelForceAtPos (dBodyID b, dReal fx, dReal fy, dReal fz,
|
|
dReal px, dReal py, dReal pz)
|
|
{
|
|
dAASSERT (b);
|
|
dVector3 frel,f;
|
|
frel[0] = fx;
|
|
frel[1] = fy;
|
|
frel[2] = fz;
|
|
frel[3] = 0;
|
|
dMULTIPLY0_331 (f,b->posr.R,frel);
|
|
b->facc[0] += f[0];
|
|
b->facc[1] += f[1];
|
|
b->facc[2] += f[2];
|
|
dVector3 q;
|
|
q[0] = px - b->posr.pos[0];
|
|
q[1] = py - b->posr.pos[1];
|
|
q[2] = pz - b->posr.pos[2];
|
|
dCROSS (b->tacc,+=,q,f);
|
|
}
|
|
|
|
|
|
void dBodyAddRelForceAtRelPos (dBodyID b, dReal fx, dReal fy, dReal fz,
|
|
dReal px, dReal py, dReal pz)
|
|
{
|
|
dAASSERT (b);
|
|
dVector3 frel,prel,f,p;
|
|
frel[0] = fx;
|
|
frel[1] = fy;
|
|
frel[2] = fz;
|
|
frel[3] = 0;
|
|
prel[0] = px;
|
|
prel[1] = py;
|
|
prel[2] = pz;
|
|
prel[3] = 0;
|
|
dMULTIPLY0_331 (f,b->posr.R,frel);
|
|
dMULTIPLY0_331 (p,b->posr.R,prel);
|
|
b->facc[0] += f[0];
|
|
b->facc[1] += f[1];
|
|
b->facc[2] += f[2];
|
|
dCROSS (b->tacc,+=,p,f);
|
|
}
|
|
|
|
|
|
const dReal * dBodyGetForce (dBodyID b)
|
|
{
|
|
dAASSERT (b);
|
|
return b->facc;
|
|
}
|
|
|
|
|
|
const dReal * dBodyGetTorque (dBodyID b)
|
|
{
|
|
dAASSERT (b);
|
|
return b->tacc;
|
|
}
|
|
|
|
|
|
void dBodySetForce (dBodyID b, dReal x, dReal y, dReal z)
|
|
{
|
|
dAASSERT (b);
|
|
b->facc[0] = x;
|
|
b->facc[1] = y;
|
|
b->facc[2] = z;
|
|
}
|
|
|
|
|
|
void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z)
|
|
{
|
|
dAASSERT (b);
|
|
b->tacc[0] = x;
|
|
b->tacc[1] = y;
|
|
b->tacc[2] = z;
|
|
}
|
|
|
|
|
|
void dBodyGetRelPointPos (dBodyID b, dReal px, dReal py, dReal pz,
|
|
dVector3 result)
|
|
{
|
|
dAASSERT (b);
|
|
dVector3 prel,p;
|
|
prel[0] = px;
|
|
prel[1] = py;
|
|
prel[2] = pz;
|
|
prel[3] = 0;
|
|
dMULTIPLY0_331 (p,b->posr.R,prel);
|
|
result[0] = p[0] + b->posr.pos[0];
|
|
result[1] = p[1] + b->posr.pos[1];
|
|
result[2] = p[2] + b->posr.pos[2];
|
|
}
|
|
|
|
|
|
void dBodyGetRelPointVel (dBodyID b, dReal px, dReal py, dReal pz,
|
|
dVector3 result)
|
|
{
|
|
dAASSERT (b);
|
|
dVector3 prel,p;
|
|
prel[0] = px;
|
|
prel[1] = py;
|
|
prel[2] = pz;
|
|
prel[3] = 0;
|
|
dMULTIPLY0_331 (p,b->posr.R,prel);
|
|
result[0] = b->lvel[0];
|
|
result[1] = b->lvel[1];
|
|
result[2] = b->lvel[2];
|
|
dCROSS (result,+=,b->avel,p);
|
|
}
|
|
|
|
|
|
void dBodyGetPointVel (dBodyID b, dReal px, dReal py, dReal pz,
|
|
dVector3 result)
|
|
{
|
|
dAASSERT (b);
|
|
dVector3 p;
|
|
p[0] = px - b->posr.pos[0];
|
|
p[1] = py - b->posr.pos[1];
|
|
p[2] = pz - b->posr.pos[2];
|
|
p[3] = 0;
|
|
result[0] = b->lvel[0];
|
|
result[1] = b->lvel[1];
|
|
result[2] = b->lvel[2];
|
|
dCROSS (result,+=,b->avel,p);
|
|
}
|
|
|
|
|
|
void dBodyGetPosRelPoint (dBodyID b, dReal px, dReal py, dReal pz,
|
|
dVector3 result)
|
|
{
|
|
dAASSERT (b);
|
|
dVector3 prel;
|
|
prel[0] = px - b->posr.pos[0];
|
|
prel[1] = py - b->posr.pos[1];
|
|
prel[2] = pz - b->posr.pos[2];
|
|
prel[3] = 0;
|
|
dMULTIPLY1_331 (result,b->posr.R,prel);
|
|
}
|
|
|
|
|
|
void dBodyVectorToWorld (dBodyID b, dReal px, dReal py, dReal pz,
|
|
dVector3 result)
|
|
{
|
|
dAASSERT (b);
|
|
dVector3 p;
|
|
p[0] = px;
|
|
p[1] = py;
|
|
p[2] = pz;
|
|
p[3] = 0;
|
|
dMULTIPLY0_331 (result,b->posr.R,p);
|
|
}
|
|
|
|
|
|
void dBodyVectorFromWorld (dBodyID b, dReal px, dReal py, dReal pz,
|
|
dVector3 result)
|
|
{
|
|
dAASSERT (b);
|
|
dVector3 p;
|
|
p[0] = px;
|
|
p[1] = py;
|
|
p[2] = pz;
|
|
p[3] = 0;
|
|
dMULTIPLY1_331 (result,b->posr.R,p);
|
|
}
|
|
|
|
|
|
void dBodySetFiniteRotationMode (dBodyID b, int mode)
|
|
{
|
|
dAASSERT (b);
|
|
b->flags &= ~(dxBodyFlagFiniteRotation | dxBodyFlagFiniteRotationAxis);
|
|
if (mode) {
|
|
b->flags |= dxBodyFlagFiniteRotation;
|
|
if (b->finite_rot_axis[0] != 0 || b->finite_rot_axis[1] != 0 ||
|
|
b->finite_rot_axis[2] != 0) {
|
|
b->flags |= dxBodyFlagFiniteRotationAxis;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
void dBodySetFiniteRotationAxis (dBodyID b, dReal x, dReal y, dReal z)
|
|
{
|
|
dAASSERT (b);
|
|
b->finite_rot_axis[0] = x;
|
|
b->finite_rot_axis[1] = y;
|
|
b->finite_rot_axis[2] = z;
|
|
if (x != 0 || y != 0 || z != 0) {
|
|
dNormalize3 (b->finite_rot_axis);
|
|
b->flags |= dxBodyFlagFiniteRotationAxis;
|
|
}
|
|
else {
|
|
b->flags &= ~dxBodyFlagFiniteRotationAxis;
|
|
}
|
|
}
|
|
|
|
|
|
int dBodyGetFiniteRotationMode (dBodyID b)
|
|
{
|
|
dAASSERT (b);
|
|
return ((b->flags & dxBodyFlagFiniteRotation) != 0);
|
|
}
|
|
|
|
|
|
void dBodyGetFiniteRotationAxis (dBodyID b, dVector3 result)
|
|
{
|
|
dAASSERT (b);
|
|
result[0] = b->finite_rot_axis[0];
|
|
result[1] = b->finite_rot_axis[1];
|
|
result[2] = b->finite_rot_axis[2];
|
|
}
|
|
|
|
|
|
int dBodyGetNumJoints (dBodyID b)
|
|
{
|
|
dAASSERT (b);
|
|
int count=0;
|
|
for (dxJointNode *n=b->firstjoint; n; n=n->next, count++);
|
|
return count;
|
|
}
|
|
|
|
|
|
dJointID dBodyGetJoint (dBodyID b, int index)
|
|
{
|
|
dAASSERT (b);
|
|
int i=0;
|
|
for (dxJointNode *n=b->firstjoint; n; n=n->next, i++) {
|
|
if (i == index) return n->joint;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
|
|
void dBodyEnable (dBodyID b)
|
|
{
|
|
dAASSERT (b);
|
|
b->flags &= ~dxBodyDisabled;
|
|
b->adis_stepsleft = b->adis.idle_steps;
|
|
b->adis_timeleft = b->adis.idle_time;
|
|
// no code for average-processing needed here
|
|
}
|
|
|
|
|
|
void dBodyDisable (dBodyID b)
|
|
{
|
|
dAASSERT (b);
|
|
b->flags |= dxBodyDisabled;
|
|
}
|
|
|
|
|
|
int dBodyIsEnabled (dBodyID b)
|
|
{
|
|
dAASSERT (b);
|
|
return ((b->flags & dxBodyDisabled) == 0);
|
|
}
|
|
|
|
|
|
void dBodySetGravityMode (dBodyID b, int mode)
|
|
{
|
|
dAASSERT (b);
|
|
if (mode) b->flags &= ~dxBodyNoGravity;
|
|
else b->flags |= dxBodyNoGravity;
|
|
}
|
|
|
|
|
|
int dBodyGetGravityMode (dBodyID b)
|
|
{
|
|
dAASSERT (b);
|
|
return ((b->flags & dxBodyNoGravity) == 0);
|
|
}
|
|
|
|
|
|
// body auto-disable functions
|
|
|
|
dReal dBodyGetAutoDisableLinearThreshold (dBodyID b)
|
|
{
|
|
dAASSERT(b);
|
|
return dSqrt (b->adis.linear_average_threshold);
|
|
}
|
|
|
|
|
|
void dBodySetAutoDisableLinearThreshold (dBodyID b, dReal linear_average_threshold)
|
|
{
|
|
dAASSERT(b);
|
|
b->adis.linear_average_threshold = linear_average_threshold * linear_average_threshold;
|
|
}
|
|
|
|
|
|
dReal dBodyGetAutoDisableAngularThreshold (dBodyID b)
|
|
{
|
|
dAASSERT(b);
|
|
return dSqrt (b->adis.angular_average_threshold);
|
|
}
|
|
|
|
|
|
void dBodySetAutoDisableAngularThreshold (dBodyID b, dReal angular_average_threshold)
|
|
{
|
|
dAASSERT(b);
|
|
b->adis.angular_average_threshold = angular_average_threshold * angular_average_threshold;
|
|
}
|
|
|
|
|
|
int dBodyGetAutoDisableAverageSamplesCount (dBodyID b)
|
|
{
|
|
dAASSERT(b);
|
|
return b->adis.average_samples;
|
|
}
|
|
|
|
|
|
void dBodySetAutoDisableAverageSamplesCount (dBodyID b, unsigned int average_samples_count)
|
|
{
|
|
dAASSERT(b);
|
|
b->adis.average_samples = average_samples_count;
|
|
// update the average buffers
|
|
if(b->average_lvel_buffer)
|
|
{
|
|
delete[] b->average_lvel_buffer;
|
|
b->average_lvel_buffer = 0;
|
|
}
|
|
if(b->average_avel_buffer)
|
|
{
|
|
delete[] b->average_avel_buffer;
|
|
b->average_avel_buffer = 0;
|
|
}
|
|
if(b->adis.average_samples > 0)
|
|
{
|
|
b->average_lvel_buffer = new dVector3[b->adis.average_samples];
|
|
b->average_avel_buffer = new dVector3[b->adis.average_samples];
|
|
}
|
|
else
|
|
{
|
|
b->average_lvel_buffer = 0;
|
|
b->average_avel_buffer = 0;
|
|
}
|
|
// new buffer is empty
|
|
b->average_counter = 0;
|
|
b->average_ready = 0;
|
|
}
|
|
|
|
|
|
int dBodyGetAutoDisableSteps (dBodyID b)
|
|
{
|
|
dAASSERT(b);
|
|
return b->adis.idle_steps;
|
|
}
|
|
|
|
|
|
void dBodySetAutoDisableSteps (dBodyID b, int steps)
|
|
{
|
|
dAASSERT(b);
|
|
b->adis.idle_steps = steps;
|
|
}
|
|
|
|
|
|
dReal dBodyGetAutoDisableTime (dBodyID b)
|
|
{
|
|
dAASSERT(b);
|
|
return b->adis.idle_time;
|
|
}
|
|
|
|
|
|
void dBodySetAutoDisableTime (dBodyID b, dReal time)
|
|
{
|
|
dAASSERT(b);
|
|
b->adis.idle_time = time;
|
|
}
|
|
|
|
|
|
int dBodyGetAutoDisableFlag (dBodyID b)
|
|
{
|
|
dAASSERT(b);
|
|
return ((b->flags & dxBodyAutoDisable) != 0);
|
|
}
|
|
|
|
|
|
void dBodySetAutoDisableFlag (dBodyID b, int do_auto_disable)
|
|
{
|
|
dAASSERT(b);
|
|
if (!do_auto_disable)
|
|
{
|
|
b->flags &= ~dxBodyAutoDisable;
|
|
// (mg) we should also reset the IsDisabled state to correspond to the DoDisabling flag
|
|
b->flags &= ~dxBodyDisabled;
|
|
b->adis.idle_steps = dWorldGetAutoDisableSteps(b->world);
|
|
b->adis.idle_time = dWorldGetAutoDisableTime(b->world);
|
|
// resetting the average calculations too
|
|
dBodySetAutoDisableAverageSamplesCount(b, dWorldGetAutoDisableAverageSamplesCount(b->world) );
|
|
}
|
|
else
|
|
{
|
|
b->flags |= dxBodyAutoDisable;
|
|
}
|
|
}
|
|
|
|
|
|
void dBodySetAutoDisableDefaults (dBodyID b)
|
|
{
|
|
dAASSERT(b);
|
|
dWorldID w = b->world;
|
|
dAASSERT(w);
|
|
b->adis = w->adis;
|
|
dBodySetAutoDisableFlag (b, w->adis_flag);
|
|
}
|
|
|
|
//****************************************************************************
|
|
// joints
|
|
|
|
static void dJointInit (dxWorld *w, dxJoint *j)
|
|
{
|
|
dIASSERT (w && j);
|
|
initObject (j,w);
|
|
j->vtable = 0;
|
|
j->flags = 0;
|
|
j->node[0].joint = j;
|
|
j->node[0].body = 0;
|
|
j->node[0].next = 0;
|
|
j->node[1].joint = j;
|
|
j->node[1].body = 0;
|
|
j->node[1].next = 0;
|
|
dSetZero (j->lambda,6);
|
|
addObjectToList (j,(dObject **) &w->firstjoint);
|
|
w->nj++;
|
|
}
|
|
|
|
|
|
static dxJoint *createJoint (dWorldID w, dJointGroupID group,
|
|
dxJoint::Vtable *vtable)
|
|
{
|
|
dIASSERT (w && vtable);
|
|
dxJoint *j;
|
|
if (group) {
|
|
j = (dxJoint*) group->stack.alloc (vtable->size);
|
|
group->num++;
|
|
}
|
|
else j = (dxJoint*) dAlloc (vtable->size);
|
|
dJointInit (w,j);
|
|
j->vtable = vtable;
|
|
if (group) j->flags |= dJOINT_INGROUP;
|
|
if (vtable->init) vtable->init (j);
|
|
j->feedback = 0;
|
|
return j;
|
|
}
|
|
|
|
|
|
dxJoint * dJointCreateBall (dWorldID w, dJointGroupID group)
|
|
{
|
|
dAASSERT (w);
|
|
return createJoint (w,group,&__dball_vtable);
|
|
}
|
|
|
|
|
|
dxJoint * dJointCreateHinge (dWorldID w, dJointGroupID group)
|
|
{
|
|
dAASSERT (w);
|
|
return createJoint (w,group,&__dhinge_vtable);
|
|
}
|
|
|
|
|
|
dxJoint * dJointCreateSlider (dWorldID w, dJointGroupID group)
|
|
{
|
|
dAASSERT (w);
|
|
return createJoint (w,group,&__dslider_vtable);
|
|
}
|
|
|
|
|
|
dxJoint * dJointCreateContact (dWorldID w, dJointGroupID group,
|
|
const dContact *c)
|
|
{
|
|
dAASSERT (w && c);
|
|
dxJointContact *j = (dxJointContact *)
|
|
createJoint (w,group,&__dcontact_vtable);
|
|
j->contact = *c;
|
|
return j;
|
|
}
|
|
|
|
|
|
dxJoint * dJointCreateHinge2 (dWorldID w, dJointGroupID group)
|
|
{
|
|
dAASSERT (w);
|
|
return createJoint (w,group,&__dhinge2_vtable);
|
|
}
|
|
|
|
|
|
dxJoint * dJointCreateUniversal (dWorldID w, dJointGroupID group)
|
|
{
|
|
dAASSERT (w);
|
|
return createJoint (w,group,&__duniversal_vtable);
|
|
}
|
|
|
|
dxJoint * dJointCreatePR (dWorldID w, dJointGroupID group)
|
|
{
|
|
dAASSERT (w);
|
|
return createJoint (w,group,&__dPR_vtable);
|
|
}
|
|
|
|
dxJoint * dJointCreateFixed (dWorldID w, dJointGroupID group)
|
|
{
|
|
dAASSERT (w);
|
|
return createJoint (w,group,&__dfixed_vtable);
|
|
}
|
|
|
|
|
|
dxJoint * dJointCreateNull (dWorldID w, dJointGroupID group)
|
|
{
|
|
dAASSERT (w);
|
|
return createJoint (w,group,&__dnull_vtable);
|
|
}
|
|
|
|
|
|
dxJoint * dJointCreateAMotor (dWorldID w, dJointGroupID group)
|
|
{
|
|
dAASSERT (w);
|
|
return createJoint (w,group,&__damotor_vtable);
|
|
}
|
|
|
|
dxJoint * dJointCreateLMotor (dWorldID w, dJointGroupID group)
|
|
{
|
|
dAASSERT (w);
|
|
return createJoint (w,group,&__dlmotor_vtable);
|
|
}
|
|
|
|
dxJoint * dJointCreatePlane2D (dWorldID w, dJointGroupID group)
|
|
{
|
|
dAASSERT (w);
|
|
return createJoint (w,group,&__dplane2d_vtable);
|
|
}
|
|
|
|
void dJointDestroy (dxJoint *j)
|
|
{
|
|
dAASSERT (j);
|
|
if (j->flags & dJOINT_INGROUP) return;
|
|
removeJointReferencesFromAttachedBodies (j);
|
|
removeObjectFromList (j);
|
|
j->world->nj--;
|
|
dFree (j,j->vtable->size);
|
|
}
|
|
|
|
|
|
dJointGroupID dJointGroupCreate (int max_size)
|
|
{
|
|
// not any more ... dUASSERT (max_size > 0,"max size must be > 0");
|
|
dxJointGroup *group = new dxJointGroup;
|
|
group->num = 0;
|
|
return group;
|
|
}
|
|
|
|
|
|
void dJointGroupDestroy (dJointGroupID group)
|
|
{
|
|
dAASSERT (group);
|
|
dJointGroupEmpty (group);
|
|
delete group;
|
|
}
|
|
|
|
|
|
void dJointGroupEmpty (dJointGroupID group)
|
|
{
|
|
// the joints in this group are detached starting from the most recently
|
|
// added (at the top of the stack). this helps ensure that the various
|
|
// linked lists are not traversed too much, as the joints will hopefully
|
|
// be at the start of those lists.
|
|
// if any group joints have their world pointer set to 0, their world was
|
|
// previously destroyed. no special handling is required for these joints.
|
|
|
|
dAASSERT (group);
|
|
int i;
|
|
dxJoint **jlist = (dxJoint**) ALLOCA (group->num * sizeof(dxJoint*));
|
|
dxJoint *j = (dxJoint*) group->stack.rewind();
|
|
for (i=0; i < group->num; i++) {
|
|
jlist[i] = j;
|
|
j = (dxJoint*) (group->stack.next (j->vtable->size));
|
|
}
|
|
for (i=group->num-1; i >= 0; i--) {
|
|
if (jlist[i]->world) {
|
|
removeJointReferencesFromAttachedBodies (jlist[i]);
|
|
removeObjectFromList (jlist[i]);
|
|
jlist[i]->world->nj--;
|
|
}
|
|
}
|
|
group->num = 0;
|
|
group->stack.freeAll();
|
|
}
|
|
|
|
|
|
void dJointAttach (dxJoint *joint, dxBody *body1, dxBody *body2)
|
|
{
|
|
// check arguments
|
|
dUASSERT (joint,"bad joint argument");
|
|
dUASSERT (body1 == 0 || body1 != body2,"can't have body1==body2");
|
|
dxWorld *world = joint->world;
|
|
dUASSERT ( (!body1 || body1->world == world) &&
|
|
(!body2 || body2->world == world),
|
|
"joint and bodies must be in same world");
|
|
|
|
// check if the joint can not be attached to just one body
|
|
dUASSERT (!((joint->flags & dJOINT_TWOBODIES) &&
|
|
((body1 != 0) ^ (body2 != 0))),
|
|
"joint can not be attached to just one body");
|
|
|
|
// remove any existing body attachments
|
|
if (joint->node[0].body || joint->node[1].body) {
|
|
removeJointReferencesFromAttachedBodies (joint);
|
|
}
|
|
|
|
// if a body is zero, make sure that it is body2, so 0 --> node[1].body
|
|
if (body1==0) {
|
|
body1 = body2;
|
|
body2 = 0;
|
|
joint->flags |= dJOINT_REVERSE;
|
|
}
|
|
else {
|
|
joint->flags &= (~dJOINT_REVERSE);
|
|
}
|
|
|
|
// attach to new bodies
|
|
joint->node[0].body = body1;
|
|
joint->node[1].body = body2;
|
|
if (body1) {
|
|
joint->node[1].next = body1->firstjoint;
|
|
body1->firstjoint = &joint->node[1];
|
|
}
|
|
else joint->node[1].next = 0;
|
|
if (body2) {
|
|
joint->node[0].next = body2->firstjoint;
|
|
body2->firstjoint = &joint->node[0];
|
|
}
|
|
else {
|
|
joint->node[0].next = 0;
|
|
}
|
|
}
|
|
|
|
|
|
void dJointSetData (dxJoint *joint, void *data)
|
|
{
|
|
dAASSERT (joint);
|
|
joint->userdata = data;
|
|
}
|
|
|
|
|
|
void *dJointGetData (dxJoint *joint)
|
|
{
|
|
dAASSERT (joint);
|
|
return joint->userdata;
|
|
}
|
|
|
|
|
|
int dJointGetType (dxJoint *joint)
|
|
{
|
|
dAASSERT (joint);
|
|
return joint->vtable->typenum;
|
|
}
|
|
|
|
|
|
dBodyID dJointGetBody (dxJoint *joint, int index)
|
|
{
|
|
dAASSERT (joint);
|
|
if (index == 0 || index == 1) {
|
|
if (joint->flags & dJOINT_REVERSE) return joint->node[1-index].body;
|
|
else return joint->node[index].body;
|
|
}
|
|
else return 0;
|
|
}
|
|
|
|
|
|
void dJointSetFeedback (dxJoint *joint, dJointFeedback *f)
|
|
{
|
|
dAASSERT (joint);
|
|
joint->feedback = f;
|
|
}
|
|
|
|
|
|
dJointFeedback *dJointGetFeedback (dxJoint *joint)
|
|
{
|
|
dAASSERT (joint);
|
|
return joint->feedback;
|
|
}
|
|
|
|
|
|
|
|
dJointID dConnectingJoint (dBodyID in_b1, dBodyID in_b2)
|
|
{
|
|
dAASSERT (in_b1 || in_b2);
|
|
|
|
dBodyID b1, b2;
|
|
|
|
if (in_b1 == 0) {
|
|
b1 = in_b2;
|
|
b2 = in_b1;
|
|
}
|
|
else {
|
|
b1 = in_b1;
|
|
b2 = in_b2;
|
|
}
|
|
|
|
// look through b1's neighbour list for b2
|
|
for (dxJointNode *n=b1->firstjoint; n; n=n->next) {
|
|
if (n->body == b2) return n->joint;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
|
|
|
|
int dConnectingJointList (dBodyID in_b1, dBodyID in_b2, dJointID* out_list)
|
|
{
|
|
dAASSERT (in_b1 || in_b2);
|
|
|
|
|
|
dBodyID b1, b2;
|
|
|
|
if (in_b1 == 0) {
|
|
b1 = in_b2;
|
|
b2 = in_b1;
|
|
}
|
|
else {
|
|
b1 = in_b1;
|
|
b2 = in_b2;
|
|
}
|
|
|
|
// look through b1's neighbour list for b2
|
|
int numConnectingJoints = 0;
|
|
for (dxJointNode *n=b1->firstjoint; n; n=n->next) {
|
|
if (n->body == b2)
|
|
out_list[numConnectingJoints++] = n->joint;
|
|
}
|
|
|
|
return numConnectingJoints;
|
|
}
|
|
|
|
|
|
int dAreConnected (dBodyID b1, dBodyID b2)
|
|
{
|
|
dAASSERT (b1 && b2);
|
|
// look through b1's neighbour list for b2
|
|
for (dxJointNode *n=b1->firstjoint; n; n=n->next) {
|
|
if (n->body == b2) return 1;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
|
|
int dAreConnectedExcluding (dBodyID b1, dBodyID b2, int joint_type)
|
|
{
|
|
dAASSERT (b1 && b2);
|
|
// look through b1's neighbour list for b2
|
|
for (dxJointNode *n=b1->firstjoint; n; n=n->next) {
|
|
if (dJointGetType (n->joint) != joint_type && n->body == b2) return 1;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
//****************************************************************************
|
|
// world
|
|
|
|
dxWorld * dWorldCreate()
|
|
{
|
|
dxWorld *w = new dxWorld;
|
|
w->firstbody = 0;
|
|
w->firstjoint = 0;
|
|
w->nb = 0;
|
|
w->nj = 0;
|
|
dSetZero (w->gravity,4);
|
|
w->global_erp = REAL(0.2);
|
|
#if defined(dSINGLE)
|
|
w->global_cfm = 1e-5f;
|
|
#elif defined(dDOUBLE)
|
|
w->global_cfm = 1e-10;
|
|
#else
|
|
#error dSINGLE or dDOUBLE must be defined
|
|
#endif
|
|
|
|
w->adis.idle_steps = 10;
|
|
w->adis.idle_time = 0;
|
|
w->adis_flag = 0;
|
|
w->adis.average_samples = 1; // Default is 1 sample => Instantaneous velocity
|
|
w->adis.angular_average_threshold = REAL(0.01)*REAL(0.01); // (magnitude squared)
|
|
w->adis.linear_average_threshold = REAL(0.01)*REAL(0.01); // (magnitude squared)
|
|
|
|
w->qs.num_iterations = 20;
|
|
w->qs.w = REAL(1.3);
|
|
|
|
w->contactp.max_vel = dInfinity;
|
|
w->contactp.min_depth = 0;
|
|
|
|
return w;
|
|
}
|
|
|
|
|
|
void dWorldDestroy (dxWorld *w)
|
|
{
|
|
// delete all bodies and joints
|
|
dAASSERT (w);
|
|
dxBody *nextb, *b = w->firstbody;
|
|
while (b) {
|
|
nextb = (dxBody*) b->next;
|
|
if(b->average_lvel_buffer)
|
|
{
|
|
delete[] (b->average_lvel_buffer);
|
|
b->average_lvel_buffer = 0;
|
|
}
|
|
if(b->average_avel_buffer)
|
|
{
|
|
delete[] (b->average_avel_buffer);
|
|
b->average_avel_buffer = 0;
|
|
}
|
|
dBodyDestroy(b); // calling here dBodyDestroy for correct destroying! (i.e. the average buffers)
|
|
b = nextb;
|
|
}
|
|
dxJoint *nextj, *j = w->firstjoint;
|
|
while (j) {
|
|
nextj = (dxJoint*)j->next;
|
|
if (j->flags & dJOINT_INGROUP) {
|
|
// the joint is part of a group, so "deactivate" it instead
|
|
j->world = 0;
|
|
j->node[0].body = 0;
|
|
j->node[0].next = 0;
|
|
j->node[1].body = 0;
|
|
j->node[1].next = 0;
|
|
dMessage (0,"warning: destroying world containing grouped joints");
|
|
}
|
|
else {
|
|
dFree (j,j->vtable->size);
|
|
}
|
|
j = nextj;
|
|
}
|
|
delete w;
|
|
}
|
|
|
|
|
|
void dWorldSetGravity (dWorldID w, dReal x, dReal y, dReal z)
|
|
{
|
|
dAASSERT (w);
|
|
w->gravity[0] = x;
|
|
w->gravity[1] = y;
|
|
w->gravity[2] = z;
|
|
}
|
|
|
|
|
|
void dWorldGetGravity (dWorldID w, dVector3 g)
|
|
{
|
|
dAASSERT (w);
|
|
g[0] = w->gravity[0];
|
|
g[1] = w->gravity[1];
|
|
g[2] = w->gravity[2];
|
|
}
|
|
|
|
|
|
void dWorldSetERP (dWorldID w, dReal erp)
|
|
{
|
|
dAASSERT (w);
|
|
w->global_erp = erp;
|
|
}
|
|
|
|
|
|
dReal dWorldGetERP (dWorldID w)
|
|
{
|
|
dAASSERT (w);
|
|
return w->global_erp;
|
|
}
|
|
|
|
|
|
void dWorldSetCFM (dWorldID w, dReal cfm)
|
|
{
|
|
dAASSERT (w);
|
|
w->global_cfm = cfm;
|
|
}
|
|
|
|
|
|
dReal dWorldGetCFM (dWorldID w)
|
|
{
|
|
dAASSERT (w);
|
|
return w->global_cfm;
|
|
}
|
|
|
|
|
|
void dWorldStep (dWorldID w, dReal stepsize)
|
|
{
|
|
dUASSERT (w,"bad world argument");
|
|
dUASSERT (stepsize > 0,"stepsize must be > 0");
|
|
dxProcessIslands (w,stepsize,&dInternalStepIsland);
|
|
}
|
|
|
|
|
|
void dWorldQuickStep (dWorldID w, dReal stepsize)
|
|
{
|
|
dUASSERT (w,"bad world argument");
|
|
dUASSERT (stepsize > 0,"stepsize must be > 0");
|
|
dxProcessIslands (w,stepsize,&dxQuickStepper);
|
|
}
|
|
|
|
|
|
void dWorldImpulseToForce (dWorldID w, dReal stepsize,
|
|
dReal ix, dReal iy, dReal iz,
|
|
dVector3 force)
|
|
{
|
|
dAASSERT (w);
|
|
stepsize = dRecip(stepsize);
|
|
force[0] = stepsize * ix;
|
|
force[1] = stepsize * iy;
|
|
force[2] = stepsize * iz;
|
|
// @@@ force[3] = 0;
|
|
}
|
|
|
|
|
|
// world auto-disable functions
|
|
|
|
dReal dWorldGetAutoDisableLinearThreshold (dWorldID w)
|
|
{
|
|
dAASSERT(w);
|
|
return dSqrt (w->adis.linear_average_threshold);
|
|
}
|
|
|
|
|
|
void dWorldSetAutoDisableLinearThreshold (dWorldID w, dReal linear_average_threshold)
|
|
{
|
|
dAASSERT(w);
|
|
w->adis.linear_average_threshold = linear_average_threshold * linear_average_threshold;
|
|
}
|
|
|
|
|
|
dReal dWorldGetAutoDisableAngularThreshold (dWorldID w)
|
|
{
|
|
dAASSERT(w);
|
|
return dSqrt (w->adis.angular_average_threshold);
|
|
}
|
|
|
|
|
|
void dWorldSetAutoDisableAngularThreshold (dWorldID w, dReal angular_average_threshold)
|
|
{
|
|
dAASSERT(w);
|
|
w->adis.angular_average_threshold = angular_average_threshold * angular_average_threshold;
|
|
}
|
|
|
|
|
|
int dWorldGetAutoDisableAverageSamplesCount (dWorldID w)
|
|
{
|
|
dAASSERT(w);
|
|
return w->adis.average_samples;
|
|
}
|
|
|
|
|
|
void dWorldSetAutoDisableAverageSamplesCount (dWorldID w, unsigned int average_samples_count)
|
|
{
|
|
dAASSERT(w);
|
|
w->adis.average_samples = average_samples_count;
|
|
}
|
|
|
|
|
|
int dWorldGetAutoDisableSteps (dWorldID w)
|
|
{
|
|
dAASSERT(w);
|
|
return w->adis.idle_steps;
|
|
}
|
|
|
|
|
|
void dWorldSetAutoDisableSteps (dWorldID w, int steps)
|
|
{
|
|
dAASSERT(w);
|
|
w->adis.idle_steps = steps;
|
|
}
|
|
|
|
|
|
dReal dWorldGetAutoDisableTime (dWorldID w)
|
|
{
|
|
dAASSERT(w);
|
|
return w->adis.idle_time;
|
|
}
|
|
|
|
|
|
void dWorldSetAutoDisableTime (dWorldID w, dReal time)
|
|
{
|
|
dAASSERT(w);
|
|
w->adis.idle_time = time;
|
|
}
|
|
|
|
|
|
int dWorldGetAutoDisableFlag (dWorldID w)
|
|
{
|
|
dAASSERT(w);
|
|
return w->adis_flag;
|
|
}
|
|
|
|
|
|
void dWorldSetAutoDisableFlag (dWorldID w, int do_auto_disable)
|
|
{
|
|
dAASSERT(w);
|
|
w->adis_flag = (do_auto_disable != 0);
|
|
}
|
|
|
|
|
|
void dWorldSetQuickStepNumIterations (dWorldID w, int num)
|
|
{
|
|
dAASSERT(w);
|
|
w->qs.num_iterations = num;
|
|
}
|
|
|
|
|
|
int dWorldGetQuickStepNumIterations (dWorldID w)
|
|
{
|
|
dAASSERT(w);
|
|
return w->qs.num_iterations;
|
|
}
|
|
|
|
|
|
void dWorldSetQuickStepW (dWorldID w, dReal param)
|
|
{
|
|
dAASSERT(w);
|
|
w->qs.w = param;
|
|
}
|
|
|
|
|
|
dReal dWorldGetQuickStepW (dWorldID w)
|
|
{
|
|
dAASSERT(w);
|
|
return w->qs.w;
|
|
}
|
|
|
|
|
|
void dWorldSetContactMaxCorrectingVel (dWorldID w, dReal vel)
|
|
{
|
|
dAASSERT(w);
|
|
w->contactp.max_vel = vel;
|
|
}
|
|
|
|
|
|
dReal dWorldGetContactMaxCorrectingVel (dWorldID w)
|
|
{
|
|
dAASSERT(w);
|
|
return w->contactp.max_vel;
|
|
}
|
|
|
|
|
|
void dWorldSetContactSurfaceLayer (dWorldID w, dReal depth)
|
|
{
|
|
dAASSERT(w);
|
|
w->contactp.min_depth = depth;
|
|
}
|
|
|
|
|
|
dReal dWorldGetContactSurfaceLayer (dWorldID w)
|
|
{
|
|
dAASSERT(w);
|
|
return w->contactp.min_depth;
|
|
}
|
|
|
|
//****************************************************************************
|
|
// testing
|
|
|
|
#define NUM 100
|
|
|
|
#define DO(x)
|
|
|
|
|
|
extern "C" void dTestDataStructures()
|
|
{
|
|
int i;
|
|
DO(printf ("testDynamicsStuff()\n"));
|
|
|
|
dBodyID body [NUM];
|
|
int nb = 0;
|
|
dJointID joint [NUM];
|
|
int nj = 0;
|
|
|
|
for (i=0; i<NUM; i++) body[i] = 0;
|
|
for (i=0; i<NUM; i++) joint[i] = 0;
|
|
|
|
DO(printf ("creating world\n"));
|
|
dWorldID w = dWorldCreate();
|
|
checkWorld (w);
|
|
|
|
for (;;) {
|
|
if (nb < NUM && dRandReal() > 0.5) {
|
|
DO(printf ("creating body\n"));
|
|
body[nb] = dBodyCreate (w);
|
|
DO(printf ("\t--> %p\n",body[nb]));
|
|
nb++;
|
|
checkWorld (w);
|
|
DO(printf ("%d BODIES, %d JOINTS\n",nb,nj));
|
|
}
|
|
if (nj < NUM && nb > 2 && dRandReal() > 0.5) {
|
|
dBodyID b1 = body [dRand() % nb];
|
|
dBodyID b2 = body [dRand() % nb];
|
|
if (b1 != b2) {
|
|
DO(printf ("creating joint, attaching to %p,%p\n",b1,b2));
|
|
joint[nj] = dJointCreateBall (w,0);
|
|
DO(printf ("\t-->%p\n",joint[nj]));
|
|
checkWorld (w);
|
|
dJointAttach (joint[nj],b1,b2);
|
|
nj++;
|
|
checkWorld (w);
|
|
DO(printf ("%d BODIES, %d JOINTS\n",nb,nj));
|
|
}
|
|
}
|
|
if (nj > 0 && nb > 2 && dRandReal() > 0.5) {
|
|
dBodyID b1 = body [dRand() % nb];
|
|
dBodyID b2 = body [dRand() % nb];
|
|
if (b1 != b2) {
|
|
int k = dRand() % nj;
|
|
DO(printf ("reattaching joint %p\n",joint[k]));
|
|
dJointAttach (joint[k],b1,b2);
|
|
checkWorld (w);
|
|
DO(printf ("%d BODIES, %d JOINTS\n",nb,nj));
|
|
}
|
|
}
|
|
if (nb > 0 && dRandReal() > 0.5) {
|
|
int k = dRand() % nb;
|
|
DO(printf ("destroying body %p\n",body[k]));
|
|
dBodyDestroy (body[k]);
|
|
checkWorld (w);
|
|
for (; k < (NUM-1); k++) body[k] = body[k+1];
|
|
nb--;
|
|
DO(printf ("%d BODIES, %d JOINTS\n",nb,nj));
|
|
}
|
|
if (nj > 0 && dRandReal() > 0.5) {
|
|
int k = dRand() % nj;
|
|
DO(printf ("destroying joint %p\n",joint[k]));
|
|
dJointDestroy (joint[k]);
|
|
checkWorld (w);
|
|
for (; k < (NUM-1); k++) joint[k] = joint[k+1];
|
|
nj--;
|
|
DO(printf ("%d BODIES, %d JOINTS\n",nb,nj));
|
|
}
|
|
}
|
|
|
|
/*
|
|
printf ("creating world\n");
|
|
dWorldID w = dWorldCreate();
|
|
checkWorld (w);
|
|
printf ("creating body\n");
|
|
dBodyID b1 = dBodyCreate (w);
|
|
checkWorld (w);
|
|
printf ("creating body\n");
|
|
dBodyID b2 = dBodyCreate (w);
|
|
checkWorld (w);
|
|
printf ("creating joint\n");
|
|
dJointID j = dJointCreateBall (w);
|
|
checkWorld (w);
|
|
printf ("attaching joint\n");
|
|
dJointAttach (j,b1,b2);
|
|
checkWorld (w);
|
|
printf ("destroying joint\n");
|
|
dJointDestroy (j);
|
|
checkWorld (w);
|
|
printf ("destroying body\n");
|
|
dBodyDestroy (b1);
|
|
checkWorld (w);
|
|
printf ("destroying body\n");
|
|
dBodyDestroy (b2);
|
|
checkWorld (w);
|
|
printf ("destroying world\n");
|
|
dWorldDestroy (w);
|
|
*/
|
|
}
|