1 | /* |
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2 | ----------------------------------------------------------------------------- |
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3 | This source file is part of the OGRE Reference Application, a layer built |
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4 | on top of OGRE(Object-oriented Graphics Rendering Engine) |
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5 | For the latest info, see http://www.ogre3d.org/ |
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6 | |
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7 | Copyright (c) 2000-2006 Torus Knot Software Ltd |
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8 | Also see acknowledgements in Readme.html |
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9 | |
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10 | This program is free software; you can redistribute it and/or modify it under |
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11 | the terms of the GNU Lesser General Public License as published by the Free Software |
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12 | Foundation; either version 2 of the License, or (at your option) any later |
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13 | version. |
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14 | |
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15 | This program is distributed in the hope that it will be useful, but WITHOUT |
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16 | ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS |
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17 | FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. |
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18 | |
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19 | You should have received a copy of the GNU Lesser General Public License along with |
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20 | this program; if not, write to the Free Software Foundation, Inc., 59 Temple |
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21 | Place - Suite 330, Boston, MA 02111-1307, USA, or go to |
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22 | http://www.gnu.org/copyleft/lesser.txt. |
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23 | |
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24 | You may alternatively use this source under the terms of a specific version of |
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25 | the OGRE Unrestricted License provided you have obtained such a license from |
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26 | Torus Knot Software Ltd. |
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27 | ----------------------------------------------------------------------------- |
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28 | */ |
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29 | #ifndef __REFAPP_JOINT_H__ |
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30 | #define __REFAPP_JOINT_H__ |
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31 | |
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32 | #include "OgreRefAppPrerequisites.h" |
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33 | |
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34 | namespace OgreRefApp { |
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35 | |
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36 | /** Represents a linkage between application objects or between them and the world, enforcing |
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37 | certain constraints. |
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38 | @remarks |
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39 | Joints can be used to link application objects together, or to link them to a static point |
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40 | in the world according to certain constraints. You should create joints using |
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41 | World::createJoint. You should then set certain global options, like it's world |
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42 | anchor position, before attaching it to application objects. You application objects |
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43 | should already be positioned how you would like relative to the joint anchor, since once |
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44 | they are attached, they will be constrained by it. |
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45 | */ |
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46 | class _OgreRefAppExport Joint |
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47 | { |
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48 | public: |
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49 | /// The type of joint |
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50 | enum JointType { |
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51 | /// Ball & socket joint, has 3 degrees of freedom |
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52 | JT_BALL, |
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53 | /// Sliding joint, 1 degree of freedom (in-out) |
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54 | JT_SLIDER, |
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55 | /// Hinge joint, 1 degree of freedom |
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56 | JT_HINGE, |
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57 | /// Universal joint, like a double-hinge, 2 degrees of freedom |
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58 | JT_UNIVERSAL, |
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59 | /// 2 hinges in series, like the axel of a car |
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60 | JT_HINGE2 |
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61 | }; |
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62 | /** Constructor, however you should use World::createJoint(type, obj1, obj2). */ |
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63 | Joint(JointType jtype); |
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64 | virtual ~Joint() { if (mOdeJoint) delete mOdeJoint; } |
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65 | |
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66 | |
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67 | /** Returns the type of this joint. */ |
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68 | JointType getType(void); |
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69 | /** Set the anchor point of this joint. |
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70 | @remarks |
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71 | Sets the location, in world space, of the anchor point of this joint, which is usually |
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72 | the hinge point or just the origin of joint. It has no meaning for JT_SLIDER and thus |
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73 | you don't need to call it for that. |
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74 | */ |
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75 | virtual void setAnchorPosition(const Vector3& point) = 0; |
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76 | |
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77 | /** Gets the anchor position of this joint. */ |
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78 | virtual const Vector3& getAnchorPosition(void); |
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79 | |
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80 | |
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81 | /** Gets the attached objects, a NULL means no object ie a static attachment. */ |
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82 | virtual const std::pair<ApplicationObject*, ApplicationObject*>& getAttachments(void); |
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83 | |
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84 | /** Sets the axes for this joint. |
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85 | @remarks |
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86 | The meaning of axes for a joint depends on it's type: |
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87 | <ul> |
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88 | <li>For JT_BALL, it has no meaning and you don't need to call it.</li> |
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89 | <li>For JT_SLIDER, only one is applicable and it's the axis along which the slide occurs. </li> |
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90 | <li>For JT_HINGE, only one is applicable and it's the hinge axis. </li> |
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91 | <li>For JT_UNIVERSAL, and JT_HINGE2 it's the 2 hinge axes.</li> |
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92 | </ul> |
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93 | */ |
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94 | virtual void setAxes(const Vector3& primaryAxis, const Vector3& secondaryAxis = Vector3::ZERO) = 0; |
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95 | |
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96 | /** Gets the axes of this joint. */ |
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97 | virtual const std::pair<Vector3, Vector3>& getAxes(void); |
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98 | |
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99 | protected: |
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100 | |
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101 | /** Sets the objects attached to this joint. |
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102 | @remarks |
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103 | It appears that this has to be set before other joint params like |
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104 | anchor etc, otherwise the joint does not behave. Therefore it is internal |
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105 | and is called during construction. |
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106 | */ |
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107 | void setAttachments(ApplicationObject* obj1, ApplicationObject* obj2); |
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108 | |
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109 | JointType mType; |
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110 | Vector3 mAnchor; |
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111 | std::pair<ApplicationObject*, ApplicationObject*> mAttachedObjects; |
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112 | std::pair<Vector3, Vector3> mAxes; |
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113 | |
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114 | // ODE object |
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115 | dJoint* mOdeJoint; |
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116 | |
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117 | |
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118 | |
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119 | |
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120 | |
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121 | |
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122 | |
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123 | |
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124 | |
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125 | }; |
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126 | } |
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127 | |
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128 | #endif |
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