Panda3D
|
00001 // Filename: odeWorld.h 00002 // Created by: joswilso (27Dec06) 00003 // 00004 //////////////////////////////////////////////////////////////////// 00005 // 00006 // PANDA 3D SOFTWARE 00007 // Copyright (c) Carnegie Mellon University. All rights reserved. 00008 // 00009 // All use of this software is subject to the terms of the revised BSD 00010 // license. You should have received a copy of this license along 00011 // with this source code in a file named "LICENSE." 00012 // 00013 //////////////////////////////////////////////////////////////////// 00014 00015 #ifndef ODEWORLD_H 00016 #define ODEWORLD_H 00017 00018 #include "pandabase.h" 00019 #include "typedObject.h" 00020 #include "luse.h" 00021 #include "ode_includes.h" 00022 #include "pmap.h" 00023 #include "numeric_types.h" 00024 00025 00026 #include "ode_includes.h" 00027 #include "odeHelperStructs.h" 00028 00029 class OdeBody; 00030 class OdeJoint; 00031 00032 00033 00034 00035 //////////////////////////////////////////////////////////////////// 00036 // Class : OdeWorld 00037 // Description : 00038 //////////////////////////////////////////////////////////////////// 00039 class EXPCL_PANDAODE OdeWorld : public TypedObject { 00040 PUBLISHED: 00041 OdeWorld(); 00042 OdeWorld(const OdeWorld ©); 00043 virtual ~OdeWorld(); 00044 void destroy(); 00045 INLINE bool is_empty() const; 00046 INLINE dWorldID get_id() const; 00047 00048 INLINE void set_gravity(dReal x, dReal y, dReal z); 00049 INLINE void set_gravity(const LVecBase3f &vec); 00050 INLINE void set_erp(dReal erp); 00051 INLINE void set_cfm(dReal cfm); 00052 INLINE void set_quick_step_num_iterations(int num); 00053 00054 INLINE void set_quick_step_w(dReal over_relaxation); 00055 INLINE void set_contact_max_correcting_vel(dReal vel); 00056 INLINE void set_contact_surface_layer(dReal depth); 00057 INLINE void set_auto_enable_depth_sf1(int auto_enable_depth); 00058 INLINE void set_auto_disable_linear_threshold(dReal linear_threshold); 00059 INLINE void set_auto_disable_angular_threshold(dReal angular_threshold); 00060 INLINE void set_auto_disable_steps(int steps); 00061 INLINE void set_auto_disable_time(dReal time); 00062 INLINE void set_auto_disable_flag(int do_auto_disable); 00063 00064 INLINE LVecBase3f get_gravity() const; 00065 INLINE dReal get_erp() const; 00066 INLINE dReal get_cfm() const; 00067 INLINE int get_quick_step_num_iterations() const; 00068 INLINE dReal get_quick_step_w() const; 00069 INLINE dReal get_contact_max_correcting_vel() const; 00070 INLINE dReal get_contact_surface_layer() const; 00071 INLINE int get_auto_enable_depth_sf1() const; 00072 INLINE dReal get_auto_disable_linear_threshold() const; 00073 INLINE dReal get_auto_disable_angular_threshold() const; 00074 INLINE int get_auto_disable_steps() const; 00075 INLINE dReal get_auto_disable_time() const; 00076 INLINE int get_auto_disable_flag() const; 00077 00078 INLINE LVecBase3f impulse_to_force(dReal stepsize, \ 00079 dReal ix, dReal iy, dReal iz); 00080 INLINE LVecBase3f impulse_to_force(dReal stepsize, \ 00081 const LVecBase3f &impulse); 00082 00083 INLINE void step(dReal stepsize); 00084 INLINE void quick_step(dReal stepsize); 00085 INLINE void step_fast1(dReal stepsize, int maxiterations); 00086 00087 INLINE int compare_to(const OdeWorld &other) const; 00088 00089 void init_surface_table(PN_uint8 num_surfaces); 00090 //void assign_surface_body(OdeBody& body, int surface); 00091 void add_body_dampening(OdeBody& body, int surface); 00092 void set_surface_entry(PN_uint8 pos1, PN_uint8 pos2, 00093 dReal mu, 00094 dReal bounce, 00095 dReal bounce_vel, 00096 dReal soft_erp, 00097 dReal soft_cfm, 00098 dReal slip, 00099 dReal dampen); 00100 float apply_dampening(float dt, OdeBody& body); 00101 00102 operator bool () const; 00103 00104 public: 00105 INLINE sSurfaceParams& get_surface(PN_uint8 surface1, PN_uint8 surface2); 00106 INLINE void set_surface(int pos1, int pos2, sSurfaceParams& entry); 00107 INLINE sBodyParams get_surface_body(dBodyID id); 00108 INLINE void set_dampen_on_bodies(dBodyID id1, dBodyID id2,dReal damp); 00109 00110 00111 private: 00112 dWorldID _id; 00113 sSurfaceParams *_surface_table; 00114 PN_uint8 _num_surfaces; 00115 typedef pmap<dBodyID, sBodyParams> BodyDampenMap; 00116 BodyDampenMap _body_dampen_map; 00117 00118 00119 00120 00121 public: 00122 static TypeHandle get_class_type() { 00123 return _type_handle; 00124 } 00125 static void init_type() { 00126 TypedObject::init_type(); 00127 register_type(_type_handle, "OdeWorld", 00128 TypedObject::get_class_type()); 00129 } 00130 virtual TypeHandle get_type() const { 00131 return get_class_type(); 00132 } 00133 virtual TypeHandle force_init_type() {init_type(); return get_class_type();} 00134 00135 private: 00136 static TypeHandle _type_handle; 00137 }; 00138 00139 #include "odeWorld.I" 00140 00141 #endif 00142