139 lines
5.3 KiB
C
139 lines
5.3 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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// object, body, and world structs.
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#ifndef _ODE_OBJECT_H_
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#define _ODE_OBJECT_H_
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#include <ode/common.h>
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#include <ode/memory.h>
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#include <ode/mass.h>
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#include "array.h"
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// some body flags
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enum {
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dxBodyFlagFiniteRotation = 1, // use finite rotations
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dxBodyFlagFiniteRotationAxis = 2, // use finite rotations only along axis
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dxBodyDisabled = 4, // body is disabled
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dxBodyNoGravity = 8, // body is not influenced by gravity
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dxBodyAutoDisable = 16 // enable auto-disable on body
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};
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// base class that does correct object allocation / deallocation
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struct dBase {
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void *operator new (size_t size) { return dAlloc (size); }
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void operator delete (void *ptr, size_t size) { dFree (ptr,size); }
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void *operator new[] (size_t size) { return dAlloc (size); }
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void operator delete[] (void *ptr, size_t size) { dFree (ptr,size); }
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};
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// base class for bodies and joints
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struct dObject : public dBase {
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dxWorld *world; // world this object is in
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dObject *next; // next object of this type in list
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dObject **tome; // pointer to previous object's next ptr
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void *userdata; // user settable data
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int tag; // used by dynamics algorithms
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};
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// auto disable parameters
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struct dxAutoDisable {
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dReal idle_time; // time the body needs to be idle to auto-disable it
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int idle_steps; // steps the body needs to be idle to auto-disable it
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dReal linear_average_threshold; // linear (squared) average velocity threshold
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dReal angular_average_threshold; // angular (squared) average velocity threshold
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unsigned int average_samples; // size of the average_lvel and average_avel buffers
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};
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// quick-step parameters
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struct dxQuickStepParameters {
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int num_iterations; // number of SOR iterations to perform
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dReal w; // the SOR over-relaxation parameter
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};
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// contact generation parameters
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struct dxContactParameters {
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dReal max_vel; // maximum correcting velocity
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dReal min_depth; // thickness of 'surface layer'
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};
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// position vector and rotation matrix for geometry objects that are not
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// connected to bodies.
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struct dxPosR {
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dVector3 pos;
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dMatrix3 R;
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};
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struct dxBody : public dObject {
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dxJointNode *firstjoint; // list of attached joints
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int flags; // some dxBodyFlagXXX flags
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dGeomID geom; // first collision geom associated with body
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dMass mass; // mass parameters about POR
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dMatrix3 invI; // inverse of mass.I
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dReal invMass; // 1 / mass.mass
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dxPosR posr; // position and orientation of point of reference
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dQuaternion q; // orientation quaternion
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dVector3 lvel,avel; // linear and angular velocity of POR
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dVector3 facc,tacc; // force and torque accumulators
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dVector3 finite_rot_axis; // finite rotation axis, unit length or 0=none
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// auto-disable information
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dxAutoDisable adis; // auto-disable parameters
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dReal adis_timeleft; // time left to be idle
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int adis_stepsleft; // steps left to be idle
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dVector3* average_lvel_buffer; // buffer for the linear average velocity calculation
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dVector3* average_avel_buffer; // buffer for the angular average velocity calculation
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unsigned int average_counter; // counter/index to fill the average-buffers
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int average_ready; // indicates ( with = 1 ), if the Body's buffers are ready for average-calculations
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};
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struct dxWorld : public dBase {
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dxBody *firstbody; // body linked list
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dxJoint *firstjoint; // joint linked list
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int nb,nj; // number of bodies and joints in lists
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dVector3 gravity; // gravity vector (m/s/s)
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dReal global_erp; // global error reduction parameter
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dReal global_cfm; // global costraint force mixing parameter
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dxAutoDisable adis; // auto-disable parameters
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int adis_flag; // auto-disable flag for new bodies
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dxQuickStepParameters qs;
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dxContactParameters contactp;
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};
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#endif
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