source: code/branches/ode/ode-0.9/ode/src/objects.h @ 216

/*************************************************************************
 *                                                                       *
 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
 * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file LICENSE.TXT.                                               *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file LICENSE-BSD.TXT.                                       *
 *                                                                       *
 * This library is distributed in the hope that it will be useful,       *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
 * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
 *                                                                       *
 *************************************************************************/

// object, body, and world structs.


#ifndef _ODE_OBJECT_H_
#define _ODE_OBJECT_H_

#include <ode/common.h>
#include <ode/memory.h>
#include <ode/mass.h>
#include "array.h"


// some body flags

enum {
  dxBodyFlagFiniteRotation = 1,         // use finite rotations
  dxBodyFlagFiniteRotationAxis = 2,     // use finite rotations only along axis
  dxBodyDisabled = 4,                   // body is disabled
  dxBodyNoGravity = 8,                  // body is not influenced by gravity
  dxBodyAutoDisable = 16                // enable auto-disable on body
};


// base class that does correct object allocation / deallocation

struct dBase {
  void *operator new (size_t size) { return dAlloc (size); }
  void operator delete (void *ptr, size_t size) { dFree (ptr,size); }
  void *operator new[] (size_t size) { return dAlloc (size); }
  void operator delete[] (void *ptr, size_t size) { dFree (ptr,size); }
};


// base class for bodies and joints

struct dObject : public dBase {
  dxWorld *world;               // world this object is in
  dObject *next;                // next object of this type in list
  dObject **tome;               // pointer to previous object's next ptr
  void *userdata;               // user settable data
  int tag;                      // used by dynamics algorithms
};


// auto disable parameters
struct dxAutoDisable {
  dReal idle_time;              // time the body needs to be idle to auto-disable it
  int idle_steps;               // steps the body needs to be idle to auto-disable it
  dReal linear_average_threshold;   // linear (squared) average velocity threshold
  dReal angular_average_threshold;  // angular (squared) average velocity threshold
  unsigned int average_samples;     // size of the average_lvel and average_avel buffers
};


// quick-step parameters
struct dxQuickStepParameters {
  int num_iterations;           // number of SOR iterations to perform
  dReal w;                      // the SOR over-relaxation parameter
};


// contact generation parameters
struct dxContactParameters {
  dReal max_vel;                // maximum correcting velocity
  dReal min_depth;              // thickness of 'surface layer'
};



// position vector and rotation matrix for geometry objects that are not
// connected to bodies.

struct dxPosR {
  dVector3 pos;
  dMatrix3 R;
};

struct dxBody : public dObject {
  dxJointNode *firstjoint;      // list of attached joints
  int flags;                    // some dxBodyFlagXXX flags
  dGeomID geom;                 // first collision geom associated with body
  dMass mass;                   // mass parameters about POR
  dMatrix3 invI;                // inverse of mass.I
  dReal invMass;                // 1 / mass.mass
  dxPosR posr;                  // position and orientation of point of reference
  dQuaternion q;                // orientation quaternion
  dVector3 lvel,avel;           // linear and angular velocity of POR
  dVector3 facc,tacc;           // force and torque accumulators
  dVector3 finite_rot_axis;     // finite rotation axis, unit length or 0=none

  // auto-disable information
  dxAutoDisable adis;           // auto-disable parameters
  dReal adis_timeleft;          // time left to be idle
  int adis_stepsleft;           // steps left to be idle
  dVector3* average_lvel_buffer;      // buffer for the linear average velocity calculation
  dVector3* average_avel_buffer;      // buffer for the angular average velocity calculation
  unsigned int average_counter;      // counter/index to fill the average-buffers
  int average_ready;        // indicates ( with = 1 ), if the Body's buffers are ready for average-calculations
};


struct dxWorld : public dBase {
  dxBody *firstbody;            // body linked list
  dxJoint *firstjoint;          // joint linked list
  int nb,nj;                    // number of bodies and joints in lists
  dVector3 gravity;             // gravity vector (m/s/s)
  dReal global_erp;             // global error reduction parameter
  dReal global_cfm;             // global costraint force mixing parameter
  dxAutoDisable adis;           // auto-disable parameters
  int adis_flag;                // auto-disable flag for new bodies
  dxQuickStepParameters qs;
  dxContactParameters contactp;
};


#endif