72 lines
2.2 KiB
C
72 lines
2.2 KiB
C
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/**
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* PANDA 3D SOFTWARE
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* Copyright (c) Carnegie Mellon University. All rights reserved.
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*
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* All use of this software is subject to the terms of the revised BSD
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* license. You should have received a copy of this license along
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* with this source code in a file named "LICENSE."
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*
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* @file baseIntegrator.h
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* @author charles
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* @date 2000-08-11
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*/
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#ifndef BASEINTEGRATOR_H
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#define BASEINTEGRATOR_H
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#include "pandabase.h"
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#include "pointerTo.h"
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#include "referenceCount.h"
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#include "luse.h"
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#include "linearForce.h"
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#include "angularForce.h"
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#include "pvector.h"
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#include "epvector.h"
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class Physical;
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/**
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* pure virtual integrator class that holds cached matrix information that
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* really should be common to any possible child implementation.
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*/
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class EXPCL_PANDA_PHYSICS BaseIntegrator : public ReferenceCount {
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public:
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typedef epvector<LMatrix4> MatrixVector;
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typedef pvector<PT(LinearForce)> LinearForceVector;
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typedef pvector<PT(AngularForce)> AngularForceVector;
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virtual ~BaseIntegrator();
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PUBLISHED:
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virtual void output(std::ostream &out) const;
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virtual void write_precomputed_linear_matrices(std::ostream &out,
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int indent=0) const;
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virtual void write_precomputed_angular_matrices(std::ostream &out,
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int indent=0) const;
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virtual void write(std::ostream &out, int indent=0) const;
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protected:
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BaseIntegrator();
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INLINE const MatrixVector &get_precomputed_linear_matrices() const;
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INLINE const MatrixVector &get_precomputed_angular_matrices() const;
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void precompute_linear_matrices(Physical *physical,
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const LinearForceVector &forces);
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void precompute_angular_matrices(Physical *physical,
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const AngularForceVector &forces);
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private:
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// since the wrt for each physicsobject between its physicalnode and however
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// many forces will be the same among one physical, the transformation
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// matrices can be pulled out of the inner loop and precomputed.
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MatrixVector _precomputed_linear_matrices;
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MatrixVector _precomputed_angular_matrices;
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};
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#include "baseIntegrator.I"
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#endif // BASEINTEGRATOR_H
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