1 | /************************************************************************* |
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2 | * * |
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3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * |
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4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * |
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5 | * * |
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6 | * This library is free software; you can redistribute it and/or * |
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7 | * modify it under the terms of EITHER: * |
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8 | * (1) The GNU Lesser General Public License as published by the Free * |
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9 | * Software Foundation; either version 2.1 of the License, or (at * |
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10 | * your option) any later version. The text of the GNU Lesser * |
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11 | * General Public License is included with this library in the * |
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12 | * file LICENSE.TXT. * |
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13 | * (2) The BSD-style license that is included with this library in * |
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14 | * the file LICENSE-BSD.TXT. * |
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15 | * * |
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16 | * This library is distributed in the hope that it will be useful, * |
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17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
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18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * |
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19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * |
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20 | * * |
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21 | *************************************************************************/ |
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22 | |
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23 | #ifdef _MSC_VER |
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24 | #pragma warning(disable:4291) // for VC++, no complaints about "no matching operator delete found" |
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25 | #endif |
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26 | |
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27 | // this source file is mostly concerned with the data structures, not the |
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28 | // numerics. |
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29 | |
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30 | #include "objects.h" |
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31 | #include <ode/ode.h> |
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32 | #include "joint.h" |
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33 | #include <ode/odemath.h> |
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34 | #include <ode/matrix.h> |
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35 | #include "step.h" |
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36 | #include <ode/memory.h> |
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37 | #include <ode/error.h> |
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38 | |
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39 | // misc defines |
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40 | #define ALLOCA dALLOCA16 |
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41 | |
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42 | //**************************************************************************** |
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43 | // utility |
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44 | |
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45 | static inline void initObject (dObject *obj, dxWorld *w) |
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46 | { |
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47 | obj->world = w; |
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48 | obj->next = 0; |
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49 | obj->tome = 0; |
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50 | obj->userdata = 0; |
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51 | obj->tag = 0; |
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52 | } |
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53 | |
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54 | |
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55 | // add an object `obj' to the list who's head pointer is pointed to by `first'. |
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56 | |
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57 | static inline void addObjectToList (dObject *obj, dObject **first) |
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58 | { |
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59 | obj->next = *first; |
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60 | obj->tome = first; |
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61 | if (*first) (*first)->tome = &obj->next; |
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62 | (*first) = obj; |
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63 | } |
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64 | |
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65 | |
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66 | // remove the object from the linked list |
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67 | |
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68 | static inline void removeObjectFromList (dObject *obj) |
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69 | { |
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70 | if (obj->next) obj->next->tome = obj->tome; |
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71 | *(obj->tome) = obj->next; |
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72 | // safeguard |
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73 | obj->next = 0; |
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74 | obj->tome = 0; |
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75 | } |
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76 | |
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77 | |
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78 | // remove the joint from neighbour lists of all connected bodies |
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79 | |
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80 | static void removeJointReferencesFromAttachedBodies (dxJoint *j) |
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81 | { |
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82 | for (int i=0; i<2; i++) { |
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83 | dxBody *body = j->node[i].body; |
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84 | if (body) { |
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85 | dxJointNode *n = body->firstjoint; |
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86 | dxJointNode *last = 0; |
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87 | while (n) { |
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88 | if (n->joint == j) { |
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89 | if (last) last->next = n->next; |
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90 | else body->firstjoint = n->next; |
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91 | break; |
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92 | } |
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93 | last = n; |
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94 | n = n->next; |
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95 | } |
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96 | } |
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97 | } |
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98 | j->node[0].body = 0; |
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99 | j->node[0].next = 0; |
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100 | j->node[1].body = 0; |
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101 | j->node[1].next = 0; |
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102 | } |
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103 | |
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104 | //**************************************************************************** |
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105 | // island processing |
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106 | |
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107 | // this groups all joints and bodies in a world into islands. all objects |
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108 | // in an island are reachable by going through connected bodies and joints. |
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109 | // each island can be simulated separately. |
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110 | // note that joints that are not attached to anything will not be included |
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111 | // in any island, an so they do not affect the simulation. |
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112 | // |
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113 | // this function starts new island from unvisited bodies. however, it will |
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114 | // never start a new islands from a disabled body. thus islands of disabled |
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115 | // bodies will not be included in the simulation. disabled bodies are |
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116 | // re-enabled if they are found to be part of an active island. |
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117 | |
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118 | static void processIslands (dxWorld *world, dReal stepsize) |
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119 | { |
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120 | dxBody *b,*bb,**body; |
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121 | dxJoint *j,**joint; |
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122 | |
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123 | // nothing to do if no bodies |
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124 | if (world->nb <= 0) return; |
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125 | |
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126 | // make arrays for body and joint lists (for a single island) to go into |
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127 | body = (dxBody**) ALLOCA (world->nb * sizeof(dxBody*)); |
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128 | joint = (dxJoint**) ALLOCA (world->nj * sizeof(dxJoint*)); |
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129 | int bcount = 0; // number of bodies in `body' |
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130 | int jcount = 0; // number of joints in `joint' |
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131 | |
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132 | // set all body/joint tags to 0 |
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133 | for (b=world->firstbody; b; b=(dxBody*)b->next) b->tag = 0; |
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134 | for (j=world->firstjoint; j; j=(dxJoint*)j->next) j->tag = 0; |
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135 | |
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136 | // allocate a stack of unvisited bodies in the island. the maximum size of |
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137 | // the stack can be the lesser of the number of bodies or joints, because |
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138 | // new bodies are only ever added to the stack by going through untagged |
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139 | // joints. all the bodies in the stack must be tagged! |
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140 | int stackalloc = (world->nj < world->nb) ? world->nj : world->nb; |
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141 | dxBody **stack = (dxBody**) ALLOCA (stackalloc * sizeof(dxBody*)); |
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142 | |
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143 | for (bb=world->firstbody; bb; bb=(dxBody*)bb->next) { |
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144 | // get bb = the next enabled, untagged body, and tag it |
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145 | if (bb->tag || (bb->flags & dxBodyDisabled)) continue; |
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146 | bb->tag = 1; |
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147 | |
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148 | // tag all bodies and joints starting from bb. |
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149 | int stacksize = 0; |
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150 | b = bb; |
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151 | body[0] = bb; |
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152 | bcount = 1; |
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153 | jcount = 0; |
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154 | goto quickstart; |
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155 | while (stacksize > 0) { |
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156 | b = stack[--stacksize]; // pop body off stack |
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157 | body[bcount++] = b; // put body on body list |
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158 | quickstart: |
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159 | |
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160 | // traverse and tag all body's joints, add untagged connected bodies |
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161 | // to stack |
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162 | for (dxJointNode *n=b->firstjoint; n; n=n->next) { |
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163 | if (!n->joint->tag) { |
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164 | n->joint->tag = 1; |
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165 | joint[jcount++] = n->joint; |
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166 | if (n->body && !n->body->tag) { |
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167 | n->body->tag = 1; |
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168 | stack[stacksize++] = n->body; |
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169 | } |
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170 | } |
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171 | } |
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172 | dIASSERT(stacksize <= world->nb); |
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173 | dIASSERT(stacksize <= world->nj); |
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174 | } |
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175 | |
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176 | // now do something with body and joint lists |
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177 | dInternalStepIsland (world,body,bcount,joint,jcount,stepsize); |
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178 | |
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179 | // what we've just done may have altered the body/joint tag values. |
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180 | // we must make sure that these tags are nonzero. |
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181 | // also make sure all bodies are in the enabled state. |
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182 | int i; |
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183 | for (i=0; i<bcount; i++) { |
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184 | body[i]->tag = 1; |
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185 | body[i]->flags &= ~dxBodyDisabled; |
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186 | } |
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187 | for (i=0; i<jcount; i++) joint[i]->tag = 1; |
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188 | } |
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189 | |
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190 | // if debugging, check that all objects (except for disabled bodies, |
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191 | // unconnected joints, and joints that are connected to disabled bodies) |
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192 | // were tagged. |
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193 | # ifndef dNODEBUG |
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194 | for (b=world->firstbody; b; b=(dxBody*)b->next) { |
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195 | if (b->flags & dxBodyDisabled) { |
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196 | if (b->tag) dDebug (0,"disabled body tagged"); |
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197 | } |
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198 | else { |
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199 | if (!b->tag) dDebug (0,"enabled body not tagged"); |
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200 | } |
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201 | } |
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202 | for (j=world->firstjoint; j; j=(dxJoint*)j->next) { |
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203 | if ((j->node[0].body && (j->node[0].body->flags & dxBodyDisabled)==0) || |
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204 | (j->node[1].body && (j->node[1].body->flags & dxBodyDisabled)==0)) { |
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205 | if (!j->tag) dDebug (0,"attached enabled joint not tagged"); |
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206 | } |
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207 | else { |
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208 | if (j->tag) dDebug (0,"unattached or disabled joint tagged"); |
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209 | } |
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210 | } |
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211 | # endif |
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212 | /******************** breakable joint contribution ***********************/ |
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213 | dxJoint* nextJ; |
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214 | if (!world->firstjoint) |
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215 | nextJ = 0; |
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216 | else |
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217 | nextJ = (dxJoint*)world->firstjoint->next; |
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218 | for (j=world->firstjoint; j; j=nextJ) { |
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219 | nextJ = (dxJoint*)j->next; |
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220 | // check if joint is breakable and broken |
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221 | if (j->breakInfo && j->breakInfo->flags & dJOINT_BROKEN) { |
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222 | // detach (break) the joint |
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223 | dJointAttach (j, 0, 0); |
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224 | // call the callback function if it is set |
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225 | if (j->breakInfo->callback) j->breakInfo->callback (j); |
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226 | // finally destroy the joint if the dJOINT_DELETE_ON_BREAK is set |
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227 | if (j->breakInfo->flags & dJOINT_DELETE_ON_BREAK) dJointDestroy (j); |
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228 | } |
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229 | } |
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230 | /*************************************************************************/ |
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231 | } |
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232 | |
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233 | //**************************************************************************** |
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234 | // debugging |
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235 | |
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236 | // see if an object list loops on itself (if so, it's bad). |
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237 | |
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238 | static int listHasLoops (dObject *first) |
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239 | { |
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240 | if (first==0 || first->next==0) return 0; |
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241 | dObject *a=first,*b=first->next; |
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242 | int skip=0; |
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243 | while (b) { |
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244 | if (a==b) return 1; |
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245 | b = b->next; |
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246 | if (skip) a = a->next; |
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247 | skip ^= 1; |
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248 | } |
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249 | return 0; |
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250 | } |
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251 | |
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252 | |
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253 | // check the validity of the world data structures |
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254 | |
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255 | static void checkWorld (dxWorld *w) |
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256 | { |
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257 | dxBody *b; |
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258 | dxJoint *j; |
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259 | |
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260 | // check there are no loops |
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261 | if (listHasLoops (w->firstbody)) dDebug (0,"body list has loops"); |
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262 | if (listHasLoops (w->firstjoint)) dDebug (0,"joint list has loops"); |
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263 | |
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264 | // check lists are well formed (check `tome' pointers) |
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265 | for (b=w->firstbody; b; b=(dxBody*)b->next) { |
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266 | if (b->next && b->next->tome != &b->next) |
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267 | dDebug (0,"bad tome pointer in body list"); |
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268 | } |
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269 | for (j=w->firstjoint; j; j=(dxJoint*)j->next) { |
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270 | if (j->next && j->next->tome != &j->next) |
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271 | dDebug (0,"bad tome pointer in joint list"); |
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272 | } |
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273 | |
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274 | // check counts |
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275 | int n = 0; |
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276 | for (b=w->firstbody; b; b=(dxBody*)b->next) n++; |
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277 | if (w->nb != n) dDebug (0,"body count incorrect"); |
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278 | n = 0; |
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279 | for (j=w->firstjoint; j; j=(dxJoint*)j->next) n++; |
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280 | if (w->nj != n) dDebug (0,"joint count incorrect"); |
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281 | |
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282 | // set all tag values to a known value |
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283 | static int count = 0; |
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284 | count++; |
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285 | for (b=w->firstbody; b; b=(dxBody*)b->next) b->tag = count; |
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286 | for (j=w->firstjoint; j; j=(dxJoint*)j->next) j->tag = count; |
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287 | |
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288 | // check all body/joint world pointers are ok |
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289 | for (b=w->firstbody; b; b=(dxBody*)b->next) if (b->world != w) |
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290 | dDebug (0,"bad world pointer in body list"); |
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291 | for (j=w->firstjoint; j; j=(dxJoint*)j->next) if (j->world != w) |
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292 | dDebug (0,"bad world pointer in joint list"); |
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293 | |
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294 | /* |
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295 | // check for half-connected joints - actually now these are valid |
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296 | for (j=w->firstjoint; j; j=(dxJoint*)j->next) { |
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297 | if (j->node[0].body || j->node[1].body) { |
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298 | if (!(j->node[0].body && j->node[1].body)) |
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299 | dDebug (0,"half connected joint found"); |
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300 | } |
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301 | } |
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302 | */ |
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303 | |
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304 | // check that every joint node appears in the joint lists of both bodies it |
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305 | // attaches |
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306 | for (j=w->firstjoint; j; j=(dxJoint*)j->next) { |
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307 | for (int i=0; i<2; i++) { |
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308 | if (j->node[i].body) { |
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309 | int ok = 0; |
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310 | for (dxJointNode *n=j->node[i].body->firstjoint; n; n=n->next) { |
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311 | if (n->joint == j) ok = 1; |
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312 | } |
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313 | if (ok==0) dDebug (0,"joint not in joint list of attached body"); |
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314 | } |
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315 | } |
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316 | } |
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317 | |
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318 | // check all body joint lists (correct body ptrs) |
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319 | for (b=w->firstbody; b; b=(dxBody*)b->next) { |
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320 | for (dxJointNode *n=b->firstjoint; n; n=n->next) { |
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321 | if (&n->joint->node[0] == n) { |
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322 | if (n->joint->node[1].body != b) |
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323 | dDebug (0,"bad body pointer in joint node of body list (1)"); |
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324 | } |
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325 | else { |
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326 | if (n->joint->node[0].body != b) |
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327 | dDebug (0,"bad body pointer in joint node of body list (2)"); |
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328 | } |
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329 | if (n->joint->tag != count) dDebug (0,"bad joint node pointer in body"); |
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330 | } |
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331 | } |
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332 | |
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333 | // check all body pointers in joints, check they are distinct |
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334 | for (j=w->firstjoint; j; j=(dxJoint*)j->next) { |
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335 | if (j->node[0].body && (j->node[0].body == j->node[1].body)) |
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336 | dDebug (0,"non-distinct body pointers in joint"); |
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337 | if ((j->node[0].body && j->node[0].body->tag != count) || |
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338 | (j->node[1].body && j->node[1].body->tag != count)) |
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339 | dDebug (0,"bad body pointer in joint"); |
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340 | } |
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341 | } |
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342 | |
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343 | |
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344 | void dWorldCheck (dxWorld *w) |
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345 | { |
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346 | checkWorld (w); |
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347 | } |
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348 | |
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349 | //**************************************************************************** |
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350 | // body |
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351 | |
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352 | dxBody *dBodyCreate (dxWorld *w) |
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353 | { |
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354 | dAASSERT (w); |
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355 | dxBody *b = new dxBody; |
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356 | initObject (b,w); |
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357 | b->firstjoint = 0; |
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358 | b->flags = 0; |
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359 | b->geom = 0; |
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360 | dMassSetParameters (&b->mass,1,0,0,0,1,1,1,0,0,0); |
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361 | dSetZero (b->invI,4*3); |
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362 | b->invI[0] = 1; |
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363 | b->invI[5] = 1; |
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364 | b->invI[10] = 1; |
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365 | b->invMass = 1; |
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366 | dSetZero (b->pos,4); |
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367 | dSetZero (b->q,4); |
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368 | b->q[0] = 1; |
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369 | dRSetIdentity (b->R); |
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370 | dSetZero (b->lvel,4); |
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371 | dSetZero (b->avel,4); |
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372 | dSetZero (b->facc,4); |
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373 | dSetZero (b->tacc,4); |
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374 | dSetZero (b->finite_rot_axis,4); |
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375 | addObjectToList (b,(dObject **) &w->firstbody); |
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376 | w->nb++; |
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377 | return b; |
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378 | } |
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379 | |
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380 | |
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381 | void dBodyDestroy (dxBody *b) |
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382 | { |
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383 | dAASSERT (b); |
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384 | |
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385 | // all geoms that link to this body must be notified that the body is about |
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386 | // to disappear. note that the call to dGeomSetBody(geom,0) will result in |
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387 | // dGeomGetBodyNext() returning 0 for the body, so we must get the next body |
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388 | // before setting the body to 0. |
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389 | dxGeom *next_geom = 0; |
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390 | for (dxGeom *geom = b->geom; geom; geom = next_geom) { |
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391 | next_geom = dGeomGetBodyNext (geom); |
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392 | dGeomSetBody (geom,0); |
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393 | } |
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394 | |
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395 | // detach all neighbouring joints, then delete this body. |
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396 | dxJointNode *n = b->firstjoint; |
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397 | while (n) { |
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398 | // sneaky trick to speed up removal of joint references (black magic) |
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399 | n->joint->node[(n == n->joint->node)].body = 0; |
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400 | |
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401 | dxJointNode *next = n->next; |
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402 | n->next = 0; |
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403 | removeJointReferencesFromAttachedBodies (n->joint); |
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404 | n = next; |
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405 | } |
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406 | removeObjectFromList (b); |
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407 | b->world->nb--; |
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408 | delete b; |
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409 | } |
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410 | |
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411 | |
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412 | void dBodySetData (dBodyID b, void *data) |
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413 | { |
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414 | dAASSERT (b); |
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415 | b->userdata = data; |
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416 | } |
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417 | |
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418 | |
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419 | void *dBodyGetData (dBodyID b) |
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420 | { |
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421 | dAASSERT (b); |
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422 | return b->userdata; |
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423 | } |
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424 | |
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425 | |
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426 | void dBodySetPosition (dBodyID b, dReal x, dReal y, dReal z) |
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427 | { |
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428 | dAASSERT (b); |
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429 | b->pos[0] = x; |
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430 | b->pos[1] = y; |
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431 | b->pos[2] = z; |
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432 | |
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433 | // notify all attached geoms that this body has moved |
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434 | for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom)) |
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435 | dGeomMoved (geom); |
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436 | } |
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437 | |
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438 | |
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439 | void dBodySetRotation (dBodyID b, const dMatrix3 R) |
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440 | { |
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441 | dAASSERT (b && R); |
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442 | dQuaternion q; |
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443 | dRtoQ (R,q); |
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444 | dNormalize4 (q); |
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445 | b->q[0] = q[0]; |
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446 | b->q[1] = q[1]; |
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447 | b->q[2] = q[2]; |
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448 | b->q[3] = q[3]; |
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449 | dQtoR (b->q,b->R); |
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450 | |
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451 | // notify all attached geoms that this body has moved |
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452 | for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom)) |
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453 | dGeomMoved (geom); |
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454 | } |
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455 | |
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456 | |
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457 | void dBodySetQuaternion (dBodyID b, const dQuaternion q) |
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458 | { |
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459 | dAASSERT (b && q); |
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460 | b->q[0] = q[0]; |
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461 | b->q[1] = q[1]; |
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462 | b->q[2] = q[2]; |
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463 | b->q[3] = q[3]; |
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464 | dNormalize4 (b->q); |
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465 | dQtoR (b->q,b->R); |
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466 | |
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467 | // notify all attached geoms that this body has moved |
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468 | for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom)) |
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469 | dGeomMoved (geom); |
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470 | } |
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471 | |
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472 | |
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473 | void dBodySetLinearVel (dBodyID b, dReal x, dReal y, dReal z) |
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474 | { |
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475 | dAASSERT (b); |
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476 | b->lvel[0] = x; |
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477 | b->lvel[1] = y; |
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478 | b->lvel[2] = z; |
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479 | } |
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480 | |
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481 | |
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482 | void dBodySetAngularVel (dBodyID b, dReal x, dReal y, dReal z) |
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483 | { |
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484 | dAASSERT (b); |
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485 | b->avel[0] = x; |
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486 | b->avel[1] = y; |
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487 | b->avel[2] = z; |
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488 | } |
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489 | |
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490 | |
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491 | const dReal * dBodyGetPosition (dBodyID b) |
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492 | { |
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493 | dAASSERT (b); |
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494 | return b->pos; |
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495 | } |
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496 | |
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497 | |
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498 | const dReal * dBodyGetRotation (dBodyID b) |
---|
499 | { |
---|
500 | dAASSERT (b); |
---|
501 | return b->R; |
---|
502 | } |
---|
503 | |
---|
504 | |
---|
505 | const dReal * dBodyGetQuaternion (dBodyID b) |
---|
506 | { |
---|
507 | dAASSERT (b); |
---|
508 | return b->q; |
---|
509 | } |
---|
510 | |
---|
511 | |
---|
512 | const dReal * dBodyGetLinearVel (dBodyID b) |
---|
513 | { |
---|
514 | dAASSERT (b); |
---|
515 | return b->lvel; |
---|
516 | } |
---|
517 | |
---|
518 | |
---|
519 | const dReal * dBodyGetAngularVel (dBodyID b) |
---|
520 | { |
---|
521 | dAASSERT (b); |
---|
522 | return b->avel; |
---|
523 | } |
---|
524 | |
---|
525 | |
---|
526 | void dBodySetMass (dBodyID b, const dMass *mass) |
---|
527 | { |
---|
528 | dAASSERT (b && mass); |
---|
529 | memcpy (&b->mass,mass,sizeof(dMass)); |
---|
530 | if (dInvertPDMatrix (b->mass.I,b->invI,3)==0) { |
---|
531 | dDEBUGMSG ("inertia must be positive definite"); |
---|
532 | dRSetIdentity (b->invI); |
---|
533 | } |
---|
534 | b->invMass = dRecip(b->mass.mass); |
---|
535 | } |
---|
536 | |
---|
537 | |
---|
538 | void dBodyGetMass (dBodyID b, dMass *mass) |
---|
539 | { |
---|
540 | dAASSERT (b && mass); |
---|
541 | memcpy (mass,&b->mass,sizeof(dMass)); |
---|
542 | } |
---|
543 | |
---|
544 | |
---|
545 | void dBodyAddForce (dBodyID b, dReal fx, dReal fy, dReal fz) |
---|
546 | { |
---|
547 | dAASSERT (b); |
---|
548 | b->facc[0] += fx; |
---|
549 | b->facc[1] += fy; |
---|
550 | b->facc[2] += fz; |
---|
551 | } |
---|
552 | |
---|
553 | |
---|
554 | void dBodyAddTorque (dBodyID b, dReal fx, dReal fy, dReal fz) |
---|
555 | { |
---|
556 | dAASSERT (b); |
---|
557 | b->tacc[0] += fx; |
---|
558 | b->tacc[1] += fy; |
---|
559 | b->tacc[2] += fz; |
---|
560 | } |
---|
561 | |
---|
562 | |
---|
563 | void dBodyAddRelForce (dBodyID b, dReal fx, dReal fy, dReal fz) |
---|
564 | { |
---|
565 | dAASSERT (b); |
---|
566 | dVector3 t1,t2; |
---|
567 | t1[0] = fx; |
---|
568 | t1[1] = fy; |
---|
569 | t1[2] = fz; |
---|
570 | t1[3] = 0; |
---|
571 | dMULTIPLY0_331 (t2,b->R,t1); |
---|
572 | b->facc[0] += t2[0]; |
---|
573 | b->facc[1] += t2[1]; |
---|
574 | b->facc[2] += t2[2]; |
---|
575 | } |
---|
576 | |
---|
577 | |
---|
578 | void dBodyAddRelTorque (dBodyID b, dReal fx, dReal fy, dReal fz) |
---|
579 | { |
---|
580 | dAASSERT (b); |
---|
581 | dVector3 t1,t2; |
---|
582 | t1[0] = fx; |
---|
583 | t1[1] = fy; |
---|
584 | t1[2] = fz; |
---|
585 | t1[3] = 0; |
---|
586 | dMULTIPLY0_331 (t2,b->R,t1); |
---|
587 | b->tacc[0] += t2[0]; |
---|
588 | b->tacc[1] += t2[1]; |
---|
589 | b->tacc[2] += t2[2]; |
---|
590 | } |
---|
591 | |
---|
592 | |
---|
593 | void dBodyAddForceAtPos (dBodyID b, dReal fx, dReal fy, dReal fz, |
---|
594 | dReal px, dReal py, dReal pz) |
---|
595 | { |
---|
596 | dAASSERT (b); |
---|
597 | b->facc[0] += fx; |
---|
598 | b->facc[1] += fy; |
---|
599 | b->facc[2] += fz; |
---|
600 | dVector3 f,q; |
---|
601 | f[0] = fx; |
---|
602 | f[1] = fy; |
---|
603 | f[2] = fz; |
---|
604 | q[0] = px - b->pos[0]; |
---|
605 | q[1] = py - b->pos[1]; |
---|
606 | q[2] = pz - b->pos[2]; |
---|
607 | dCROSS (b->tacc,+=,q,f); |
---|
608 | } |
---|
609 | |
---|
610 | |
---|
611 | void dBodyAddForceAtRelPos (dBodyID b, dReal fx, dReal fy, dReal fz, |
---|
612 | dReal px, dReal py, dReal pz) |
---|
613 | { |
---|
614 | dAASSERT (b); |
---|
615 | dVector3 prel,f,p; |
---|
616 | f[0] = fx; |
---|
617 | f[1] = fy; |
---|
618 | f[2] = fz; |
---|
619 | f[3] = 0; |
---|
620 | prel[0] = px; |
---|
621 | prel[1] = py; |
---|
622 | prel[2] = pz; |
---|
623 | prel[3] = 0; |
---|
624 | dMULTIPLY0_331 (p,b->R,prel); |
---|
625 | b->facc[0] += f[0]; |
---|
626 | b->facc[1] += f[1]; |
---|
627 | b->facc[2] += f[2]; |
---|
628 | dCROSS (b->tacc,+=,p,f); |
---|
629 | } |
---|
630 | |
---|
631 | |
---|
632 | void dBodyAddRelForceAtPos (dBodyID b, dReal fx, dReal fy, dReal fz, |
---|
633 | dReal px, dReal py, dReal pz) |
---|
634 | { |
---|
635 | dAASSERT (b); |
---|
636 | dVector3 frel,f; |
---|
637 | frel[0] = fx; |
---|
638 | frel[1] = fy; |
---|
639 | frel[2] = fz; |
---|
640 | frel[3] = 0; |
---|
641 | dMULTIPLY0_331 (f,b->R,frel); |
---|
642 | b->facc[0] += f[0]; |
---|
643 | b->facc[1] += f[1]; |
---|
644 | b->facc[2] += f[2]; |
---|
645 | dVector3 q; |
---|
646 | q[0] = px - b->pos[0]; |
---|
647 | q[1] = py - b->pos[1]; |
---|
648 | q[2] = pz - b->pos[2]; |
---|
649 | dCROSS (b->tacc,+=,q,f); |
---|
650 | } |
---|
651 | |
---|
652 | |
---|
653 | void dBodyAddRelForceAtRelPos (dBodyID b, dReal fx, dReal fy, dReal fz, |
---|
654 | dReal px, dReal py, dReal pz) |
---|
655 | { |
---|
656 | dAASSERT (b); |
---|
657 | dVector3 frel,prel,f,p; |
---|
658 | frel[0] = fx; |
---|
659 | frel[1] = fy; |
---|
660 | frel[2] = fz; |
---|
661 | frel[3] = 0; |
---|
662 | prel[0] = px; |
---|
663 | prel[1] = py; |
---|
664 | prel[2] = pz; |
---|
665 | prel[3] = 0; |
---|
666 | dMULTIPLY0_331 (f,b->R,frel); |
---|
667 | dMULTIPLY0_331 (p,b->R,prel); |
---|
668 | b->facc[0] += f[0]; |
---|
669 | b->facc[1] += f[1]; |
---|
670 | b->facc[2] += f[2]; |
---|
671 | dCROSS (b->tacc,+=,p,f); |
---|
672 | } |
---|
673 | |
---|
674 | |
---|
675 | const dReal * dBodyGetForce (dBodyID b) |
---|
676 | { |
---|
677 | dAASSERT (b); |
---|
678 | return b->facc; |
---|
679 | } |
---|
680 | |
---|
681 | |
---|
682 | const dReal * dBodyGetTorque (dBodyID b) |
---|
683 | { |
---|
684 | dAASSERT (b); |
---|
685 | return b->tacc; |
---|
686 | } |
---|
687 | |
---|
688 | |
---|
689 | void dBodySetForce (dBodyID b, dReal x, dReal y, dReal z) |
---|
690 | { |
---|
691 | dAASSERT (b); |
---|
692 | b->facc[0] = x; |
---|
693 | b->facc[1] = y; |
---|
694 | b->facc[2] = z; |
---|
695 | } |
---|
696 | |
---|
697 | |
---|
698 | void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z) |
---|
699 | { |
---|
700 | dAASSERT (b); |
---|
701 | b->tacc[0] = x; |
---|
702 | b->tacc[1] = y; |
---|
703 | b->tacc[2] = z; |
---|
704 | } |
---|
705 | |
---|
706 | |
---|
707 | void dBodyGetRelPointPos (dBodyID b, dReal px, dReal py, dReal pz, |
---|
708 | dVector3 result) |
---|
709 | { |
---|
710 | dAASSERT (b); |
---|
711 | dVector3 prel,p; |
---|
712 | prel[0] = px; |
---|
713 | prel[1] = py; |
---|
714 | prel[2] = pz; |
---|
715 | prel[3] = 0; |
---|
716 | dMULTIPLY0_331 (p,b->R,prel); |
---|
717 | result[0] = p[0] + b->pos[0]; |
---|
718 | result[1] = p[1] + b->pos[1]; |
---|
719 | result[2] = p[2] + b->pos[2]; |
---|
720 | } |
---|
721 | |
---|
722 | |
---|
723 | void dBodyGetRelPointVel (dBodyID b, dReal px, dReal py, dReal pz, |
---|
724 | dVector3 result) |
---|
725 | { |
---|
726 | dAASSERT (b); |
---|
727 | dVector3 prel,p; |
---|
728 | prel[0] = px; |
---|
729 | prel[1] = py; |
---|
730 | prel[2] = pz; |
---|
731 | prel[3] = 0; |
---|
732 | dMULTIPLY0_331 (p,b->R,prel); |
---|
733 | result[0] = b->lvel[0]; |
---|
734 | result[1] = b->lvel[1]; |
---|
735 | result[2] = b->lvel[2]; |
---|
736 | dCROSS (result,+=,b->avel,p); |
---|
737 | } |
---|
738 | |
---|
739 | |
---|
740 | void dBodyGetPointVel (dBodyID b, dReal px, dReal py, dReal pz, |
---|
741 | dVector3 result) |
---|
742 | { |
---|
743 | dAASSERT (b); |
---|
744 | dVector3 p; |
---|
745 | p[0] = px - b->pos[0]; |
---|
746 | p[1] = py - b->pos[1]; |
---|
747 | p[2] = pz - b->pos[2]; |
---|
748 | p[3] = 0; |
---|
749 | result[0] = b->lvel[0]; |
---|
750 | result[1] = b->lvel[1]; |
---|
751 | result[2] = b->lvel[2]; |
---|
752 | dCROSS (result,+=,b->avel,p); |
---|
753 | } |
---|
754 | |
---|
755 | |
---|
756 | void dBodyGetPosRelPoint (dBodyID b, dReal px, dReal py, dReal pz, |
---|
757 | dVector3 result) |
---|
758 | { |
---|
759 | dAASSERT (b); |
---|
760 | dVector3 prel; |
---|
761 | prel[0] = px - b->pos[0]; |
---|
762 | prel[1] = py - b->pos[1]; |
---|
763 | prel[2] = pz - b->pos[2]; |
---|
764 | prel[3] = 0; |
---|
765 | dMULTIPLY1_331 (result,b->R,prel); |
---|
766 | } |
---|
767 | |
---|
768 | |
---|
769 | void dBodyVectorToWorld (dBodyID b, dReal px, dReal py, dReal pz, |
---|
770 | dVector3 result) |
---|
771 | { |
---|
772 | dAASSERT (b); |
---|
773 | dVector3 p; |
---|
774 | p[0] = px; |
---|
775 | p[1] = py; |
---|
776 | p[2] = pz; |
---|
777 | p[3] = 0; |
---|
778 | dMULTIPLY0_331 (result,b->R,p); |
---|
779 | } |
---|
780 | |
---|
781 | |
---|
782 | void dBodyVectorFromWorld (dBodyID b, dReal px, dReal py, dReal pz, |
---|
783 | dVector3 result) |
---|
784 | { |
---|
785 | dAASSERT (b); |
---|
786 | dVector3 p; |
---|
787 | p[0] = px; |
---|
788 | p[1] = py; |
---|
789 | p[2] = pz; |
---|
790 | p[3] = 0; |
---|
791 | dMULTIPLY1_331 (result,b->R,p); |
---|
792 | } |
---|
793 | |
---|
794 | |
---|
795 | void dBodySetFiniteRotationMode (dBodyID b, int mode) |
---|
796 | { |
---|
797 | dAASSERT (b); |
---|
798 | b->flags &= ~(dxBodyFlagFiniteRotation | dxBodyFlagFiniteRotationAxis); |
---|
799 | if (mode) { |
---|
800 | b->flags |= dxBodyFlagFiniteRotation; |
---|
801 | if (b->finite_rot_axis[0] != 0 || b->finite_rot_axis[1] != 0 || |
---|
802 | b->finite_rot_axis[2] != 0) { |
---|
803 | b->flags |= dxBodyFlagFiniteRotationAxis; |
---|
804 | } |
---|
805 | } |
---|
806 | } |
---|
807 | |
---|
808 | |
---|
809 | void dBodySetFiniteRotationAxis (dBodyID b, dReal x, dReal y, dReal z) |
---|
810 | { |
---|
811 | dAASSERT (b); |
---|
812 | b->finite_rot_axis[0] = x; |
---|
813 | b->finite_rot_axis[1] = y; |
---|
814 | b->finite_rot_axis[2] = z; |
---|
815 | if (x != 0 || y != 0 || z != 0) { |
---|
816 | dNormalize3 (b->finite_rot_axis); |
---|
817 | b->flags |= dxBodyFlagFiniteRotationAxis; |
---|
818 | } |
---|
819 | else { |
---|
820 | b->flags &= ~dxBodyFlagFiniteRotationAxis; |
---|
821 | } |
---|
822 | } |
---|
823 | |
---|
824 | |
---|
825 | int dBodyGetFiniteRotationMode (dBodyID b) |
---|
826 | { |
---|
827 | dAASSERT (b); |
---|
828 | return ((b->flags & dxBodyFlagFiniteRotation) != 0); |
---|
829 | } |
---|
830 | |
---|
831 | |
---|
832 | void dBodyGetFiniteRotationAxis (dBodyID b, dVector3 result) |
---|
833 | { |
---|
834 | dAASSERT (b); |
---|
835 | result[0] = b->finite_rot_axis[0]; |
---|
836 | result[1] = b->finite_rot_axis[1]; |
---|
837 | result[2] = b->finite_rot_axis[2]; |
---|
838 | } |
---|
839 | |
---|
840 | |
---|
841 | int dBodyGetNumJoints (dBodyID b) |
---|
842 | { |
---|
843 | dAASSERT (b); |
---|
844 | int count=0; |
---|
845 | for (dxJointNode *n=b->firstjoint; n; n=n->next, count++); |
---|
846 | return count; |
---|
847 | } |
---|
848 | |
---|
849 | |
---|
850 | dJointID dBodyGetJoint (dBodyID b, int index) |
---|
851 | { |
---|
852 | dAASSERT (b); |
---|
853 | int i=0; |
---|
854 | for (dxJointNode *n=b->firstjoint; n; n=n->next, i++) { |
---|
855 | if (i == index) return n->joint; |
---|
856 | } |
---|
857 | return 0; |
---|
858 | } |
---|
859 | |
---|
860 | |
---|
861 | void dBodyEnable (dBodyID b) |
---|
862 | { |
---|
863 | dAASSERT (b); |
---|
864 | b->flags &= ~dxBodyDisabled; |
---|
865 | } |
---|
866 | |
---|
867 | |
---|
868 | void dBodyDisable (dBodyID b) |
---|
869 | { |
---|
870 | dAASSERT (b); |
---|
871 | b->flags |= dxBodyDisabled; |
---|
872 | } |
---|
873 | |
---|
874 | |
---|
875 | int dBodyIsEnabled (dBodyID b) |
---|
876 | { |
---|
877 | dAASSERT (b); |
---|
878 | return ((b->flags & dxBodyDisabled) == 0); |
---|
879 | } |
---|
880 | |
---|
881 | |
---|
882 | void dBodySetGravityMode (dBodyID b, int mode) |
---|
883 | { |
---|
884 | dAASSERT (b); |
---|
885 | if (mode) b->flags &= ~dxBodyNoGravity; |
---|
886 | else b->flags |= dxBodyNoGravity; |
---|
887 | } |
---|
888 | |
---|
889 | |
---|
890 | int dBodyGetGravityMode (dBodyID b) |
---|
891 | { |
---|
892 | dAASSERT (b); |
---|
893 | return ((b->flags & dxBodyNoGravity) == 0); |
---|
894 | } |
---|
895 | |
---|
896 | //**************************************************************************** |
---|
897 | // joints |
---|
898 | |
---|
899 | static void dJointInit (dxWorld *w, dxJoint *j) |
---|
900 | { |
---|
901 | dIASSERT (w && j); |
---|
902 | initObject (j,w); |
---|
903 | j->vtable = 0; |
---|
904 | j->flags = 0; |
---|
905 | j->node[0].joint = j; |
---|
906 | j->node[0].body = 0; |
---|
907 | j->node[0].next = 0; |
---|
908 | j->node[1].joint = j; |
---|
909 | j->node[1].body = 0; |
---|
910 | j->node[1].next = 0; |
---|
911 | addObjectToList (j,(dObject **) &w->firstjoint); |
---|
912 | w->nj++; |
---|
913 | } |
---|
914 | |
---|
915 | |
---|
916 | static dxJoint *createJoint (dWorldID w, dJointGroupID group, |
---|
917 | dxJoint::Vtable *vtable) |
---|
918 | { |
---|
919 | dIASSERT (w && vtable); |
---|
920 | dxJoint *j; |
---|
921 | if (group) { |
---|
922 | j = (dxJoint*) group->stack.alloc (vtable->size); |
---|
923 | group->num++; |
---|
924 | } |
---|
925 | else j = (dxJoint*) dAlloc (vtable->size); |
---|
926 | dJointInit (w,j); |
---|
927 | j->vtable = vtable; |
---|
928 | if (group) j->flags |= dJOINT_INGROUP; |
---|
929 | if (vtable->init) vtable->init (j); |
---|
930 | j->feedback = 0; |
---|
931 | /******************** breakable joint contribution ***********************/ |
---|
932 | j->breakInfo = 0; |
---|
933 | /*************************************************************************/ |
---|
934 | return j; |
---|
935 | } |
---|
936 | |
---|
937 | |
---|
938 | dxJoint * dJointCreateBall (dWorldID w, dJointGroupID group) |
---|
939 | { |
---|
940 | dAASSERT (w); |
---|
941 | return createJoint (w,group,&__dball_vtable); |
---|
942 | } |
---|
943 | |
---|
944 | |
---|
945 | dxJoint * dJointCreateHinge (dWorldID w, dJointGroupID group) |
---|
946 | { |
---|
947 | dAASSERT (w); |
---|
948 | return createJoint (w,group,&__dhinge_vtable); |
---|
949 | } |
---|
950 | |
---|
951 | |
---|
952 | dxJoint * dJointCreateSlider (dWorldID w, dJointGroupID group) |
---|
953 | { |
---|
954 | dAASSERT (w); |
---|
955 | return createJoint (w,group,&__dslider_vtable); |
---|
956 | } |
---|
957 | |
---|
958 | |
---|
959 | dxJoint * dJointCreateContact (dWorldID w, dJointGroupID group, |
---|
960 | const dContact *c) |
---|
961 | { |
---|
962 | dAASSERT (w && c); |
---|
963 | dxJointContact *j = (dxJointContact *) |
---|
964 | createJoint (w,group,&__dcontact_vtable); |
---|
965 | j->contact = *c; |
---|
966 | return j; |
---|
967 | } |
---|
968 | |
---|
969 | |
---|
970 | dxJoint * dJointCreateHinge2 (dWorldID w, dJointGroupID group) |
---|
971 | { |
---|
972 | dAASSERT (w); |
---|
973 | return createJoint (w,group,&__dhinge2_vtable); |
---|
974 | } |
---|
975 | |
---|
976 | |
---|
977 | dxJoint * dJointCreateUniversal (dWorldID w, dJointGroupID group) |
---|
978 | { |
---|
979 | dAASSERT (w); |
---|
980 | return createJoint (w,group,&__duniversal_vtable); |
---|
981 | } |
---|
982 | |
---|
983 | |
---|
984 | dxJoint * dJointCreateFixed (dWorldID w, dJointGroupID group) |
---|
985 | { |
---|
986 | dAASSERT (w); |
---|
987 | return createJoint (w,group,&__dfixed_vtable); |
---|
988 | } |
---|
989 | |
---|
990 | |
---|
991 | dxJoint * dJointCreateNull (dWorldID w, dJointGroupID group) |
---|
992 | { |
---|
993 | dAASSERT (w); |
---|
994 | return createJoint (w,group,&__dnull_vtable); |
---|
995 | } |
---|
996 | |
---|
997 | |
---|
998 | dxJoint * dJointCreateAMotor (dWorldID w, dJointGroupID group) |
---|
999 | { |
---|
1000 | dAASSERT (w); |
---|
1001 | return createJoint (w,group,&__damotor_vtable); |
---|
1002 | } |
---|
1003 | |
---|
1004 | |
---|
1005 | void dJointDestroy (dxJoint *j) |
---|
1006 | { |
---|
1007 | dAASSERT (j); |
---|
1008 | if (j->flags & dJOINT_INGROUP) return; |
---|
1009 | removeJointReferencesFromAttachedBodies (j); |
---|
1010 | removeObjectFromList (j); |
---|
1011 | /******************** breakable joint contribution ***********************/ |
---|
1012 | if (j->breakInfo) delete j->breakInfo; |
---|
1013 | /*************************************************************************/ |
---|
1014 | j->world->nj--; |
---|
1015 | dFree (j,j->vtable->size); |
---|
1016 | } |
---|
1017 | |
---|
1018 | |
---|
1019 | dJointGroupID dJointGroupCreate (int max_size) |
---|
1020 | { |
---|
1021 | // not any more ... dUASSERT (max_size > 0,"max size must be > 0"); |
---|
1022 | dxJointGroup *group = new dxJointGroup; |
---|
1023 | group->num = 0; |
---|
1024 | return group; |
---|
1025 | } |
---|
1026 | |
---|
1027 | |
---|
1028 | void dJointGroupDestroy (dJointGroupID group) |
---|
1029 | { |
---|
1030 | dAASSERT (group); |
---|
1031 | dJointGroupEmpty (group); |
---|
1032 | delete group; |
---|
1033 | } |
---|
1034 | |
---|
1035 | |
---|
1036 | void dJointGroupEmpty (dJointGroupID group) |
---|
1037 | { |
---|
1038 | // the joints in this group are detached starting from the most recently |
---|
1039 | // added (at the top of the stack). this helps ensure that the various |
---|
1040 | // linked lists are not traversed too much, as the joints will hopefully |
---|
1041 | // be at the start of those lists. |
---|
1042 | // if any group joints have their world pointer set to 0, their world was |
---|
1043 | // previously destroyed. no special handling is required for these joints. |
---|
1044 | |
---|
1045 | dAASSERT (group); |
---|
1046 | int i; |
---|
1047 | dxJoint **jlist = (dxJoint**) ALLOCA (group->num * sizeof(dxJoint*)); |
---|
1048 | dxJoint *j = (dxJoint*) group->stack.rewind(); |
---|
1049 | for (i=0; i < group->num; i++) { |
---|
1050 | jlist[i] = j; |
---|
1051 | j = (dxJoint*) (group->stack.next (j->vtable->size)); |
---|
1052 | } |
---|
1053 | for (i=group->num-1; i >= 0; i--) { |
---|
1054 | if (jlist[i]->world) { |
---|
1055 | removeJointReferencesFromAttachedBodies (jlist[i]); |
---|
1056 | removeObjectFromList (jlist[i]); |
---|
1057 | jlist[i]->world->nj--; |
---|
1058 | } |
---|
1059 | } |
---|
1060 | group->num = 0; |
---|
1061 | group->stack.freeAll(); |
---|
1062 | } |
---|
1063 | |
---|
1064 | |
---|
1065 | void dJointAttach (dxJoint *joint, dxBody *body1, dxBody *body2) |
---|
1066 | { |
---|
1067 | // check arguments |
---|
1068 | dUASSERT (joint,"bad joint argument"); |
---|
1069 | dUASSERT (body1 == 0 || body1 != body2,"can't have body1==body2"); |
---|
1070 | dxWorld *world = joint->world; |
---|
1071 | dUASSERT ( (!body1 || body1->world == world) && |
---|
1072 | (!body2 || body2->world == world), |
---|
1073 | "joint and bodies must be in same world"); |
---|
1074 | |
---|
1075 | // check if the joint can not be attached to just one body |
---|
1076 | dUASSERT (!((joint->flags & dJOINT_TWOBODIES) && |
---|
1077 | ((body1 != 0) ^ (body2 != 0))), |
---|
1078 | "joint can not be attached to just one body"); |
---|
1079 | |
---|
1080 | // remove any existing body attachments |
---|
1081 | if (joint->node[0].body || joint->node[1].body) { |
---|
1082 | removeJointReferencesFromAttachedBodies (joint); |
---|
1083 | } |
---|
1084 | |
---|
1085 | // if a body is zero, make sure that it is body2, so 0 --> node[1].body |
---|
1086 | if (body1==0) { |
---|
1087 | body1 = body2; |
---|
1088 | body2 = 0; |
---|
1089 | joint->flags |= dJOINT_REVERSE; |
---|
1090 | } |
---|
1091 | else { |
---|
1092 | joint->flags &= (~dJOINT_REVERSE); |
---|
1093 | } |
---|
1094 | |
---|
1095 | // attach to new bodies |
---|
1096 | joint->node[0].body = body1; |
---|
1097 | joint->node[1].body = body2; |
---|
1098 | if (body1) { |
---|
1099 | joint->node[1].next = body1->firstjoint; |
---|
1100 | body1->firstjoint = &joint->node[1]; |
---|
1101 | } |
---|
1102 | else joint->node[1].next = 0; |
---|
1103 | if (body2) { |
---|
1104 | joint->node[0].next = body2->firstjoint; |
---|
1105 | body2->firstjoint = &joint->node[0]; |
---|
1106 | } |
---|
1107 | else { |
---|
1108 | joint->node[0].next = 0; |
---|
1109 | } |
---|
1110 | } |
---|
1111 | |
---|
1112 | |
---|
1113 | void dJointSetData (dxJoint *joint, void *data) |
---|
1114 | { |
---|
1115 | dAASSERT (joint); |
---|
1116 | joint->userdata = data; |
---|
1117 | } |
---|
1118 | |
---|
1119 | |
---|
1120 | void *dJointGetData (dxJoint *joint) |
---|
1121 | { |
---|
1122 | dAASSERT (joint); |
---|
1123 | return joint->userdata; |
---|
1124 | } |
---|
1125 | |
---|
1126 | |
---|
1127 | int dJointGetType (dxJoint *joint) |
---|
1128 | { |
---|
1129 | dAASSERT (joint); |
---|
1130 | return joint->vtable->typenum; |
---|
1131 | } |
---|
1132 | |
---|
1133 | |
---|
1134 | dBodyID dJointGetBody (dxJoint *joint, int index) |
---|
1135 | { |
---|
1136 | dAASSERT (joint); |
---|
1137 | if (index >= 0 && index < 2) return joint->node[index].body; |
---|
1138 | else return 0; |
---|
1139 | } |
---|
1140 | |
---|
1141 | |
---|
1142 | void dJointSetFeedback (dxJoint *joint, dJointFeedback *f) |
---|
1143 | { |
---|
1144 | dAASSERT (joint); |
---|
1145 | joint->feedback = f; |
---|
1146 | } |
---|
1147 | |
---|
1148 | |
---|
1149 | dJointFeedback *dJointGetFeedback (dxJoint *joint) |
---|
1150 | { |
---|
1151 | dAASSERT (joint); |
---|
1152 | return joint->feedback; |
---|
1153 | } |
---|
1154 | |
---|
1155 | |
---|
1156 | int dAreConnected (dBodyID b1, dBodyID b2) |
---|
1157 | { |
---|
1158 | dAASSERT (b1 && b2); |
---|
1159 | // look through b1's neighbour list for b2 |
---|
1160 | for (dxJointNode *n=b1->firstjoint; n; n=n->next) { |
---|
1161 | if (n->body == b2) return 1; |
---|
1162 | } |
---|
1163 | return 0; |
---|
1164 | } |
---|
1165 | |
---|
1166 | |
---|
1167 | int dAreConnectedExcluding (dBodyID b1, dBodyID b2, int joint_type) |
---|
1168 | { |
---|
1169 | dAASSERT (b1 && b2); |
---|
1170 | // look through b1's neighbour list for b2 |
---|
1171 | for (dxJointNode *n=b1->firstjoint; n; n=n->next) { |
---|
1172 | if (dJointGetType (n->joint) != joint_type && n->body == b2) return 1; |
---|
1173 | } |
---|
1174 | return 0; |
---|
1175 | } |
---|
1176 | |
---|
1177 | //**************************************************************************** |
---|
1178 | // world |
---|
1179 | |
---|
1180 | dxWorld * dWorldCreate() |
---|
1181 | { |
---|
1182 | dxWorld *w = new dxWorld; |
---|
1183 | w->firstbody = 0; |
---|
1184 | w->firstjoint = 0; |
---|
1185 | w->nb = 0; |
---|
1186 | w->nj = 0; |
---|
1187 | dSetZero (w->gravity,4); |
---|
1188 | w->global_erp = REAL(0.2); |
---|
1189 | #if defined(dSINGLE) |
---|
1190 | w->global_cfm = 1e-5f; |
---|
1191 | #elif defined(dDOUBLE) |
---|
1192 | w->global_cfm = 1e-10; |
---|
1193 | #else |
---|
1194 | #error dSINGLE or dDOUBLE must be defined |
---|
1195 | #endif |
---|
1196 | return w; |
---|
1197 | } |
---|
1198 | |
---|
1199 | |
---|
1200 | void dWorldDestroy (dxWorld *w) |
---|
1201 | { |
---|
1202 | // delete all bodies and joints |
---|
1203 | dAASSERT (w); |
---|
1204 | dxBody *nextb, *b = w->firstbody; |
---|
1205 | while (b) { |
---|
1206 | nextb = (dxBody*) b->next; |
---|
1207 | delete b; |
---|
1208 | b = nextb; |
---|
1209 | } |
---|
1210 | dxJoint *nextj, *j = w->firstjoint; |
---|
1211 | while (j) { |
---|
1212 | nextj = (dxJoint*)j->next; |
---|
1213 | if (j->flags & dJOINT_INGROUP) { |
---|
1214 | // the joint is part of a group, so "deactivate" it instead |
---|
1215 | j->world = 0; |
---|
1216 | j->node[0].body = 0; |
---|
1217 | j->node[0].next = 0; |
---|
1218 | j->node[1].body = 0; |
---|
1219 | j->node[1].next = 0; |
---|
1220 | dMessage (0,"warning: destroying world containing grouped joints"); |
---|
1221 | } |
---|
1222 | else { |
---|
1223 | dFree (j,j->vtable->size); |
---|
1224 | } |
---|
1225 | j = nextj; |
---|
1226 | } |
---|
1227 | delete w; |
---|
1228 | } |
---|
1229 | |
---|
1230 | |
---|
1231 | void dWorldSetGravity (dWorldID w, dReal x, dReal y, dReal z) |
---|
1232 | { |
---|
1233 | dAASSERT (w); |
---|
1234 | w->gravity[0] = x; |
---|
1235 | w->gravity[1] = y; |
---|
1236 | w->gravity[2] = z; |
---|
1237 | } |
---|
1238 | |
---|
1239 | |
---|
1240 | void dWorldGetGravity (dWorldID w, dVector3 g) |
---|
1241 | { |
---|
1242 | dAASSERT (w); |
---|
1243 | g[0] = w->gravity[0]; |
---|
1244 | g[1] = w->gravity[1]; |
---|
1245 | g[2] = w->gravity[2]; |
---|
1246 | } |
---|
1247 | |
---|
1248 | |
---|
1249 | void dWorldSetERP (dWorldID w, dReal erp) |
---|
1250 | { |
---|
1251 | dAASSERT (w); |
---|
1252 | w->global_erp = erp; |
---|
1253 | } |
---|
1254 | |
---|
1255 | |
---|
1256 | dReal dWorldGetERP (dWorldID w) |
---|
1257 | { |
---|
1258 | dAASSERT (w); |
---|
1259 | return w->global_erp; |
---|
1260 | } |
---|
1261 | |
---|
1262 | |
---|
1263 | void dWorldSetCFM (dWorldID w, dReal cfm) |
---|
1264 | { |
---|
1265 | dAASSERT (w); |
---|
1266 | w->global_cfm = cfm; |
---|
1267 | } |
---|
1268 | |
---|
1269 | |
---|
1270 | dReal dWorldGetCFM (dWorldID w) |
---|
1271 | { |
---|
1272 | dAASSERT (w); |
---|
1273 | return w->global_cfm; |
---|
1274 | } |
---|
1275 | |
---|
1276 | |
---|
1277 | void dWorldStep (dWorldID w, dReal stepsize) |
---|
1278 | { |
---|
1279 | dUASSERT (w,"bad world argument"); |
---|
1280 | dUASSERT (stepsize > 0,"stepsize must be > 0"); |
---|
1281 | processIslands (w,stepsize); |
---|
1282 | } |
---|
1283 | |
---|
1284 | |
---|
1285 | void dWorldImpulseToForce (dWorldID w, dReal stepsize, |
---|
1286 | dReal ix, dReal iy, dReal iz, |
---|
1287 | dVector3 force) |
---|
1288 | { |
---|
1289 | dAASSERT (w); |
---|
1290 | stepsize = dRecip(stepsize); |
---|
1291 | force[0] = stepsize * ix; |
---|
1292 | force[1] = stepsize * iy; |
---|
1293 | force[2] = stepsize * iz; |
---|
1294 | // @@@ force[3] = 0; |
---|
1295 | } |
---|
1296 | |
---|
1297 | //**************************************************************************** |
---|
1298 | // testing |
---|
1299 | |
---|
1300 | #define NUM 100 |
---|
1301 | |
---|
1302 | #define DO(x) |
---|
1303 | |
---|
1304 | |
---|
1305 | extern "C" void dTestDataStructures() |
---|
1306 | { |
---|
1307 | int i; |
---|
1308 | DO(printf ("testDynamicsStuff()\n")); |
---|
1309 | |
---|
1310 | dBodyID body [NUM]; |
---|
1311 | int nb = 0; |
---|
1312 | dJointID joint [NUM]; |
---|
1313 | int nj = 0; |
---|
1314 | |
---|
1315 | for (i=0; i<NUM; i++) body[i] = 0; |
---|
1316 | for (i=0; i<NUM; i++) joint[i] = 0; |
---|
1317 | |
---|
1318 | DO(printf ("creating world\n")); |
---|
1319 | dWorldID w = dWorldCreate(); |
---|
1320 | checkWorld (w); |
---|
1321 | |
---|
1322 | for (;;) { |
---|
1323 | if (nb < NUM && dRandReal() > 0.5) { |
---|
1324 | DO(printf ("creating body\n")); |
---|
1325 | body[nb] = dBodyCreate (w); |
---|
1326 | DO(printf ("\t--> %p\n",body[nb])); |
---|
1327 | nb++; |
---|
1328 | checkWorld (w); |
---|
1329 | DO(printf ("%d BODIES, %d JOINTS\n",nb,nj)); |
---|
1330 | } |
---|
1331 | if (nj < NUM && nb > 2 && dRandReal() > 0.5) { |
---|
1332 | dBodyID b1 = body [dRand() % nb]; |
---|
1333 | dBodyID b2 = body [dRand() % nb]; |
---|
1334 | if (b1 != b2) { |
---|
1335 | DO(printf ("creating joint, attaching to %p,%p\n",b1,b2)); |
---|
1336 | joint[nj] = dJointCreateBall (w,0); |
---|
1337 | DO(printf ("\t-->%p\n",joint[nj])); |
---|
1338 | checkWorld (w); |
---|
1339 | dJointAttach (joint[nj],b1,b2); |
---|
1340 | nj++; |
---|
1341 | checkWorld (w); |
---|
1342 | DO(printf ("%d BODIES, %d JOINTS\n",nb,nj)); |
---|
1343 | } |
---|
1344 | } |
---|
1345 | if (nj > 0 && nb > 2 && dRandReal() > 0.5) { |
---|
1346 | dBodyID b1 = body [dRand() % nb]; |
---|
1347 | dBodyID b2 = body [dRand() % nb]; |
---|
1348 | if (b1 != b2) { |
---|
1349 | int k = dRand() % nj; |
---|
1350 | DO(printf ("reattaching joint %p\n",joint[k])); |
---|
1351 | dJointAttach (joint[k],b1,b2); |
---|
1352 | checkWorld (w); |
---|
1353 | DO(printf ("%d BODIES, %d JOINTS\n",nb,nj)); |
---|
1354 | } |
---|
1355 | } |
---|
1356 | if (nb > 0 && dRandReal() > 0.5) { |
---|
1357 | int k = dRand() % nb; |
---|
1358 | DO(printf ("destroying body %p\n",body[k])); |
---|
1359 | dBodyDestroy (body[k]); |
---|
1360 | checkWorld (w); |
---|
1361 | for (; k < (NUM-1); k++) body[k] = body[k+1]; |
---|
1362 | nb--; |
---|
1363 | DO(printf ("%d BODIES, %d JOINTS\n",nb,nj)); |
---|
1364 | } |
---|
1365 | if (nj > 0 && dRandReal() > 0.5) { |
---|
1366 | int k = dRand() % nj; |
---|
1367 | DO(printf ("destroying joint %p\n",joint[k])); |
---|
1368 | dJointDestroy (joint[k]); |
---|
1369 | checkWorld (w); |
---|
1370 | for (; k < (NUM-1); k++) joint[k] = joint[k+1]; |
---|
1371 | nj--; |
---|
1372 | DO(printf ("%d BODIES, %d JOINTS\n",nb,nj)); |
---|
1373 | } |
---|
1374 | } |
---|
1375 | |
---|
1376 | /* |
---|
1377 | printf ("creating world\n"); |
---|
1378 | dWorldID w = dWorldCreate(); |
---|
1379 | checkWorld (w); |
---|
1380 | printf ("creating body\n"); |
---|
1381 | dBodyID b1 = dBodyCreate (w); |
---|
1382 | checkWorld (w); |
---|
1383 | printf ("creating body\n"); |
---|
1384 | dBodyID b2 = dBodyCreate (w); |
---|
1385 | checkWorld (w); |
---|
1386 | printf ("creating joint\n"); |
---|
1387 | dJointID j = dJointCreateBall (w); |
---|
1388 | checkWorld (w); |
---|
1389 | printf ("attaching joint\n"); |
---|
1390 | dJointAttach (j,b1,b2); |
---|
1391 | checkWorld (w); |
---|
1392 | printf ("destroying joint\n"); |
---|
1393 | dJointDestroy (j); |
---|
1394 | checkWorld (w); |
---|
1395 | printf ("destroying body\n"); |
---|
1396 | dBodyDestroy (b1); |
---|
1397 | checkWorld (w); |
---|
1398 | printf ("destroying body\n"); |
---|
1399 | dBodyDestroy (b2); |
---|
1400 | checkWorld (w); |
---|
1401 | printf ("destroying world\n"); |
---|
1402 | dWorldDestroy (w); |
---|
1403 | */ |
---|
1404 | } |
---|