181 lines
3.6 KiB
C++
181 lines
3.6 KiB
C++
#ifndef BLUECORE_RIGID_BODY_SIMULATION_H
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#define BLUECORE_RIGID_BODY_SIMULATION_H
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// system includes
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#include <list>
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#include <map>
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#include <vector>
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#include "ode/ode.h"
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#include "squirrel.h"
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#include "trimeshloader.h"
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// project includes
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#include "Utilities/Referenced.h"
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#include "Utilities/Buffer.h"
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#include "Utilities/sigslot.h"
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#include "Math/Vector.h"
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#include "Math/Matrix.h"
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#include "Math/Quaternion.h"
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#include "ScriptSystem.h"
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namespace BlueCore
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{
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class RigidBodySimulation;
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class RigidBody
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{
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Vector3 _Position;
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Quaternion _Orientation;
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Vector3 _LinearVelocity;
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Vector3 _AngularVelocity;
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dBodyID _Body;
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dSpaceID _Space;
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struct CollisionMesh
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{
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dTriMeshDataID trimeshdata;
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dGeomID geom;
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};
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std::vector<CollisionMesh> _CollisionMeshes;
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HSQOBJECT _CollisionHandler;
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weak_ptr<RigidBodySimulation> _Simulation;
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public:
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RigidBody(RigidBodySimulation* simulation, dWorldID world, dSpaceID space);
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~RigidBody();
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const Vector3 &getPosition() const;
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void setPosition(const Vector3 &v);
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const Vector3 &getLinearVelocity() const;
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void setLinearVelocity(const Vector3 &v);
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const Quaternion &getOrientation() const;
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void setOrientation(const Quaternion &q);
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const Vector3 &getAngularVelocity() const;
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void applyGlobalForce(const Vector3 &force, const Vector3 &point);
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void applyGlobalForce(const Vector3 &force);
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void applyLocalForce(const Vector3 &force, const Vector3 &point);
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void applyLocalForce(const Vector3 &force);
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void applyGlobalMomentum(const Vector3 &momentum, const Vector3 &point);
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void applyLocalMomentum(const Vector3 &momentum, const Vector3 &point);
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Vector3 getLocalLinearMomentum() const;
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Vector3 getGlobalLinearMomentum() const;
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Vector3 getLocalAngularMomentum() const;
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Vector3 getGlobalAngularMomentum() const;
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Vector3 getLocalVelocity() const;
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Vector3 getGlobalVelocity() const;
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Scalar getMass() const;
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sigslot::signal1<RigidBody *> CollisionSignal;
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void saveState();
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unsigned int addCollisionMesh(const std::string &meshname, Scalar density);
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void setCollisionMeshPosition(unsigned int geom, const Vector3 &position);
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void
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setCollisionMeshRotation(unsigned int geom,
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const Quaternion &rotation);
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void getCollisionMeshPosition(unsigned int geom, Vector3 &position);
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void getCollisionMeshRotation(unsigned int geom, Quaternion &rotation);
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void enableCollisionMesh(unsigned int geom);
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void disableCollisionMesh(unsigned int geom);
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unsigned int getCollisionMeshId(dGeomID geom);
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HSQOBJECT getCollisionHandler();
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void setCollisionHandler(HSQOBJECT handler);
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};
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class RigidBodySimulation : public Referenced
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{
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public:
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typedef struct
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{
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Buffer<float> vertices;
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Buffer<int> indices;
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} Trimesh;
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private:
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static void nearCallback(void *data, dGeomID o1, dGeomID o2);
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dWorldID _world;
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dSpaceID _space;
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dJointGroupID _contactgroup;
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int _maxContacts;
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Scalar _delta;
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Scalar _stepSize;
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int _steps;
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std::list<RigidBody *> _bodies;
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std::map<std::string, Trimesh *> _Trimeshes;
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ref_ptr<ScriptSystem> _ScriptSystem;
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public:
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RigidBodySimulation(ScriptSystem *scriptsystem);
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~RigidBodySimulation();
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void initializeSingleton();
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void shutdownSingleton();
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RigidBody *createRigidBody();
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void deleteRigidBody(RigidBody *rigid_body);
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void removeAll();
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int getSteps();
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Scalar getStepSize();
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int getMaxContacts();
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void saveStates();
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void updateSteps(Scalar time);
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bool step();
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sigslot::signal1<Scalar> StepSignal;
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const Trimesh *getTrimesh(const std::string &name);
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};
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}
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#endif
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