133 lines
3.8 KiB
C
133 lines
3.8 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 odeWorld.h
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* @author joswilso
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* @date 2006-12-27
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*/
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#ifndef ODEWORLD_H
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#define ODEWORLD_H
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#include "pandabase.h"
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#include "typedObject.h"
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#include "luse.h"
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#include "ode_includes.h"
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#include "pmap.h"
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#include "numeric_types.h"
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#include "ode_includes.h"
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#include "odeHelperStructs.h"
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class OdeBody;
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class OdeJoint;
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/**
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*
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*/
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class EXPCL_PANDAODE OdeWorld : public TypedObject {
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PUBLISHED:
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OdeWorld();
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OdeWorld(const OdeWorld ©);
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virtual ~OdeWorld();
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void destroy();
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INLINE bool is_empty() const;
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INLINE dWorldID get_id() const;
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INLINE void set_gravity(dReal x, dReal y, dReal z);
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INLINE void set_gravity(const LVecBase3f &vec);
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INLINE void set_erp(dReal erp);
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INLINE void set_cfm(dReal cfm);
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INLINE void set_quick_step_num_iterations(int num);
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INLINE void set_quick_step_w(dReal over_relaxation);
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INLINE void set_contact_max_correcting_vel(dReal vel);
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INLINE void set_contact_surface_layer(dReal depth);
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INLINE void set_auto_disable_linear_threshold(dReal linear_threshold);
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INLINE void set_auto_disable_angular_threshold(dReal angular_threshold);
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INLINE void set_auto_disable_steps(int steps);
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INLINE void set_auto_disable_time(dReal time);
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INLINE void set_auto_disable_flag(int do_auto_disable);
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INLINE LVecBase3f get_gravity() const;
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INLINE dReal get_erp() const;
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INLINE dReal get_cfm() const;
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INLINE int get_quick_step_num_iterations() const;
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INLINE dReal get_quick_step_w() const;
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INLINE dReal get_contact_max_correcting_vel() const;
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INLINE dReal get_contact_surface_layer() const;
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INLINE dReal get_auto_disable_linear_threshold() const;
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INLINE dReal get_auto_disable_angular_threshold() const;
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INLINE int get_auto_disable_steps() const;
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INLINE dReal get_auto_disable_time() const;
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INLINE int get_auto_disable_flag() const;
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INLINE LVecBase3f impulse_to_force(dReal stepsize, \
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dReal ix, dReal iy, dReal iz);
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INLINE LVecBase3f impulse_to_force(dReal stepsize, \
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const LVecBase3f &impulse);
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INLINE void step(dReal stepsize);
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INLINE void quick_step(dReal stepsize);
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INLINE int compare_to(const OdeWorld &other) const;
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void init_surface_table(uint8_t num_surfaces);
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// void assign_surface_body(OdeBody& body, int surface);
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void add_body_dampening(OdeBody& body, int surface);
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void set_surface_entry(uint8_t pos1, uint8_t pos2,
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dReal mu,
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dReal bounce,
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dReal bounce_vel,
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dReal soft_erp,
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dReal soft_cfm,
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dReal slip,
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dReal dampen);
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float apply_dampening(float dt, OdeBody& body);
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operator bool () const;
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public:
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sSurfaceParams& get_surface(uint8_t surface1, uint8_t surface2);
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void set_surface(int pos1, int pos2, sSurfaceParams& entry);
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sBodyParams get_surface_body(dBodyID id);
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void set_dampen_on_bodies(dBodyID id1, dBodyID id2,dReal damp);
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private:
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dWorldID _id;
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sSurfaceParams *_surface_table;
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uint8_t _num_surfaces;
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typedef pmap<dBodyID, sBodyParams> BodyDampenMap;
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BodyDampenMap _body_dampen_map;
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public:
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static TypeHandle get_class_type() {
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return _type_handle;
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}
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static void init_type() {
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TypedObject::init_type();
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register_type(_type_handle, "OdeWorld",
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TypedObject::get_class_type());
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}
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virtual TypeHandle get_type() const {
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return get_class_type();
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}
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virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
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private:
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static TypeHandle _type_handle;
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};
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#include "odeWorld.I"
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#endif
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