133 lines
3.6 KiB
C
133 lines
3.6 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 odeJoint.h
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* @author joswilso
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* @date 2006-12-27
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*/
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#ifndef ODEJOINT_H
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#define ODEJOINT_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 "odeWorld.h" // Needed for derived classes
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#include "odeJointGroup.h"
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class EXPCL_PANDAODE OdeJointFeedback : public dJointFeedback {
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PUBLISHED:
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INLINE const LVector3f get_force1() const { return LVector3f(f1[0], f1[1], f1[2]); };
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INLINE const LVector3f get_force2() const { return LVector3f(f2[0], f2[1], f2[2]); };
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INLINE const LVector3f get_torque1() const { return LVector3f(t1[0], t1[1], t1[2]); };
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INLINE const LVector3f get_torque2() const { return LVector3f(t2[0], t2[1], t2[2]); };
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};
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// Strange, we should be forced to include this by get_body()
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class OdeBody;
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class OdeBallJoint;
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class OdeHingeJoint;
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class OdeSliderJoint;
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class OdeContactJoint;
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class OdeUniversalJoint;
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class OdeHinge2Joint;
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class OdeFixedJoint;
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class OdeNullJoint;
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class OdeAMotorJoint;
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class OdeLMotorJoint;
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class OdePlane2dJoint;
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/**
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*
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*/
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class EXPCL_PANDAODE OdeJoint : public TypedObject {
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friend class OdeBody;
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friend class OdeUtil;
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public:
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OdeJoint();
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OdeJoint(dJointID id);
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PUBLISHED:
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enum JointType { JT_none = 0, /* or "unknown" */
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JT_ball,
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JT_hinge,
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JT_slider,
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JT_contact,
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JT_universal,
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JT_hinge2,
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JT_fixed,
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JT_null,
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JT_a_motor,
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JT_l_motor,
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JT_plane2d };
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virtual ~OdeJoint();
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void destroy();
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INLINE bool is_empty() const;
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INLINE dJointID get_id() const;
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/* INLINE void set_data(void *data); */
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/* INLINE void *get_data(); */
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INLINE int get_joint_type() const;
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OdeBody get_body(int index) const;
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INLINE void set_feedback(OdeJointFeedback *);
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INLINE void set_feedback(bool flag = true);
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INLINE OdeJointFeedback *get_feedback();
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EXTENSION(void attach(PyObject *body1, PyObject *body2));
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void attach_bodies(const OdeBody &body1, const OdeBody &body2);
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void attach_body(const OdeBody &body, int index);
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void detach();
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virtual void write(std::ostream &out = std::cout, unsigned int indent=0) const;
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INLINE int compare_to(const OdeJoint &other) const;
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INLINE bool operator == (const OdeJoint &other) const;
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operator bool () const;
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EXTENSION(PyObject *convert() const);
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OdeBallJoint convert_to_ball() const;
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OdeHingeJoint convert_to_hinge() const;
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OdeSliderJoint convert_to_slider() const;
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OdeContactJoint convert_to_contact() const;
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OdeUniversalJoint convert_to_universal() const;
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OdeHinge2Joint convert_to_hinge2() const;
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OdeFixedJoint convert_to_fixed() const;
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OdeNullJoint convert_to_null() const;
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OdeAMotorJoint convert_to_a_motor() const;
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OdeLMotorJoint convert_to_l_motor() const;
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OdePlane2dJoint convert_to_plane2d() const;
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protected:
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dJointID _id;
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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, "OdeJoint",
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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 "odeJoint.I"
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#endif
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