[21] | 1 | #ifndef _OGREODEJOINT_H_ |
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| 2 | #define _OGREODEJOINT_H_ |
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| 3 | |
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| 4 | #include "OgreOdePreReqs.h" |
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| 5 | #include "OgreOdeMaintainedList.h" |
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| 6 | |
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| 7 | namespace OgreOde |
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| 8 | { |
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| 9 | class _OgreOdeExport JointGroup |
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| 10 | { |
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| 11 | friend class World; |
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| 12 | friend class Joint; |
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| 13 | |
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| 14 | public: |
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| 15 | JointGroup(World *world); |
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| 16 | virtual ~JointGroup(); |
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| 17 | |
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| 18 | void empty(); |
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| 19 | |
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| 20 | virtual unsigned long getID(); |
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| 21 | |
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| 22 | protected: |
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| 23 | dJointGroupID getJointGroupID() const; |
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| 24 | |
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| 25 | protected: |
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| 26 | dJointGroupID _joint_group; |
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| 27 | World *_world; |
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| 28 | }; |
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| 29 | |
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| 30 | class _OgreOdeExport Joint |
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| 31 | { |
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| 32 | friend class World; |
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| 33 | |
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| 34 | public: |
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| 35 | enum Type |
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| 36 | { |
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| 37 | Type_BallJoint = dJointTypeBall, |
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| 38 | Type_HingeJoint = dJointTypeHinge, |
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| 39 | Type_SliderJoint = dJointTypeSlider, |
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| 40 | Type_UniversalJoint = dJointTypeUniversal, |
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| 41 | Type_Suspension_Joint = dJointTypeHinge2, |
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| 42 | Type_FixedJoint = dJointTypeFixed, |
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| 43 | Type_AngularMotorJoint = dJointTypeAMotor, |
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| 44 | Type_PlanarJoint = dJointTypePlane2D, |
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| 45 | Type_SliderHingeJoint = dJointTypePR |
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| 46 | }; |
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| 47 | |
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| 48 | enum Parameter |
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| 49 | { |
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| 50 | Parameter_LowStop = dParamLoStop, |
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| 51 | Parameter_HighStop = dParamHiStop, |
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| 52 | Parameter_LowStop2 = dParamLoStop2, // SliderHingeJoint |
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| 53 | Parameter_HighStop2 = dParamHiStop2, // SliderHingeJoint |
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| 54 | Parameter_MotorVelocity = dParamVel, |
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| 55 | Parameter_MaximumForce = dParamFMax, |
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| 56 | Parameter_FudgeFactor = dParamFudgeFactor, |
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| 57 | Parameter_Bounceyness = dParamBounce, |
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| 58 | Parameter_CFM = dParamCFM, |
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| 59 | Parameter_ERP = dParamERP, |
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| 60 | Parameter_StopERP = dParamStopERP, |
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| 61 | Parameter_StopCFM = dParamStopCFM, |
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| 62 | Parameter_SuspensionERP = dParamSuspensionERP, // SuspensionJoint |
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| 63 | Parameter_SuspensionCFM = dParamSuspensionCFM // SuspensionJoint |
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| 64 | }; |
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| 65 | |
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| 66 | public: |
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| 67 | Joint(World *world, const JointGroup* group = 0); |
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| 68 | virtual ~Joint(); |
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| 69 | |
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| 70 | Joint::Type getType(); |
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| 71 | |
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| 72 | void registerJoint(); |
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| 73 | |
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| 74 | void detach(); |
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| 75 | virtual void attach(const Body* body); |
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| 76 | virtual void attach(const Body* body_a,const Body* body_b); |
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| 77 | |
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| 78 | Body* getFirstBody(); |
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| 79 | Body* getSecondBody(); |
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| 80 | |
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| 81 | static bool areConnected(const Body* body_a,const Body* body_b); |
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| 82 | static bool areConnectedExcluding(const Body* body_a,const Body* body_b,Joint::Type joint_type); |
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| 83 | |
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| 84 | void enableFeedback(); |
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| 85 | void disableFeedback(); |
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| 86 | const Ogre::Vector3& getFirstForce(); |
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| 87 | const Ogre::Vector3& getFirstTorque(); |
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| 88 | const Ogre::Vector3& getSecondForce(); |
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| 89 | const Ogre::Vector3& getSecondTorque(); |
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| 90 | |
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| 91 | virtual void setAnchor(const Ogre::Vector3& position); |
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| 92 | virtual const Ogre::Vector3& getAnchor(); |
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| 93 | virtual const Ogre::Vector3& getAnchorError(); |
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| 94 | virtual void setAxis(const Ogre::Vector3& axis); |
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| 95 | virtual const Ogre::Vector3& getAxis(); |
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| 96 | virtual void setAdditionalAxis(const Ogre::Vector3& axis); |
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| 97 | virtual const Ogre::Vector3& getAdditionalAxis(); |
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| 98 | virtual Ogre::Real getAngle(); |
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| 99 | virtual Ogre::Real getAngleRate(); |
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| 100 | virtual Ogre::Real getPosition(); |
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| 101 | virtual Ogre::Real getPositionRate(); |
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| 102 | |
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| 103 | virtual void setParameter(Joint::Parameter parameter,Ogre::Real value,int axis = 1); |
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| 104 | virtual Ogre::Real getParameter(Joint::Parameter parameter,int axis = 1); |
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| 105 | |
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| 106 | virtual unsigned long getID(); |
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| 107 | |
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| 108 | virtual void addTorque(Ogre::Real torque, Ogre::Real torque2 = 0.0, Ogre::Real torque3 = 0.0); |
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| 109 | virtual void addForce(Ogre::Real force, Ogre::Real force2 = 0.0, Ogre::Real force3 = 0.0); |
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| 110 | |
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| 111 | protected: |
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| 112 | dJointID getJointID(); |
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| 113 | |
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| 114 | dWorldID getWorldID(); |
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| 115 | dJointGroupID getJointGroupID(const JointGroup* group) const; |
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| 116 | |
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| 117 | protected: |
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| 118 | dJointID _joint; |
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| 119 | dJointFeedback _feedback; |
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| 120 | Ogre::Vector3 _axis,_anchor,_anchor_error,_additional_axis; |
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| 121 | Ogre::Vector3 _first_force,_first_torque,_second_force,_second_torque; |
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| 122 | World *_world; |
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| 123 | }; |
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| 124 | |
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| 125 | class _OgreOdeExport BallJoint:public Joint |
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| 126 | { |
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| 127 | public: |
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| 128 | BallJoint(World *world, const JointGroup* group = 0); |
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| 129 | ~BallJoint(); |
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| 130 | |
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| 131 | virtual void setAnchor(const Ogre::Vector3& position); |
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| 132 | virtual const Ogre::Vector3& getAnchor(); |
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| 133 | virtual const Ogre::Vector3& getAnchorError(); |
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| 134 | |
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| 135 | // as of ode-0.9 can set Parameter_CFM and Parameter_ERP to make the joint springy, an axis value isn't needed |
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| 136 | virtual void setParameter(Joint::Parameter parameter, Ogre::Real value,int axis = 1); |
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| 137 | virtual Ogre::Real getParameter(Joint::Parameter parameter,int axis = 1); |
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| 138 | }; |
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| 139 | |
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| 140 | class _OgreOdeExport HingeJoint:public Joint |
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| 141 | { |
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| 142 | public: |
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| 143 | HingeJoint(World *world, const JointGroup* group = 0); |
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| 144 | ~HingeJoint(); |
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| 145 | |
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| 146 | virtual void setAnchor(const Ogre::Vector3& position); |
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| 147 | virtual const Ogre::Vector3& getAnchor(); |
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| 148 | virtual const Ogre::Vector3& getAnchorError(); |
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| 149 | virtual void setAxis(const Ogre::Vector3& axis); |
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| 150 | virtual const Ogre::Vector3& getAxis(); |
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| 151 | virtual Ogre::Real getAngle(); |
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| 152 | virtual Ogre::Real getAngleRate(); |
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| 153 | |
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| 154 | virtual void setParameter(Joint::Parameter parameter, Ogre::Real value,int axis = 1); |
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| 155 | virtual Ogre::Real getParameter(Joint::Parameter parameter,int axis = 1); |
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| 156 | |
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| 157 | virtual void addTorque(Ogre::Real torque, Ogre::Real torque2 = 0.0, Ogre::Real torque3 = 0.0); |
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| 158 | }; |
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| 159 | |
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| 160 | class _OgreOdeExport SliderJoint:public Joint |
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| 161 | { |
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| 162 | public: |
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| 163 | SliderJoint(World *world, const JointGroup* group = 0); |
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| 164 | ~SliderJoint(); |
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| 165 | |
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| 166 | virtual void setAxis(const Ogre::Vector3& axis); |
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| 167 | virtual const Ogre::Vector3& getAxis(); |
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| 168 | virtual Ogre::Real getPosition(); |
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| 169 | virtual Ogre::Real getPositionRate(); |
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| 170 | |
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| 171 | virtual void setParameter(Joint::Parameter parameter, Ogre::Real value,int axis = 1); |
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| 172 | virtual Ogre::Real getParameter(Joint::Parameter parameter, int axis = 1); |
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| 173 | |
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| 174 | virtual void addForce(Ogre::Real force, Ogre::Real force2 = 0.0, Ogre::Real force3 = 0.0); |
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| 175 | }; |
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| 176 | |
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| 177 | class _OgreOdeExport UniversalJoint:public Joint |
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| 178 | { |
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| 179 | public: |
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| 180 | UniversalJoint(World *world, const JointGroup* group = 0); |
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| 181 | ~UniversalJoint(); |
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| 182 | |
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| 183 | virtual void setAnchor(const Ogre::Vector3& position); |
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| 184 | virtual const Ogre::Vector3& getAnchor(); |
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| 185 | virtual const Ogre::Vector3& getAnchorError(); |
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| 186 | virtual void setAxis(const Ogre::Vector3& axis); |
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| 187 | virtual const Ogre::Vector3& getAxis(); |
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| 188 | virtual void setAdditionalAxis(const Ogre::Vector3& axis); |
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| 189 | virtual const Ogre::Vector3& getAdditionalAxis(); |
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| 190 | |
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| 191 | virtual void setParameter(Joint::Parameter parameter, Ogre::Real value, int axis = 1); |
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| 192 | virtual Ogre::Real getParameter(Joint::Parameter parameter,int axis = 1); |
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| 193 | |
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| 194 | virtual void addTorque(Ogre::Real torque, Ogre::Real torque2 = 0.0, Ogre::Real torque3 = 0.0); |
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| 195 | }; |
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| 196 | |
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| 197 | class _OgreOdeExport FixedJoint:public Joint |
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| 198 | { |
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| 199 | public: |
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| 200 | FixedJoint(World *world, const JointGroup* group = 0); |
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| 201 | ~FixedJoint(); |
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| 202 | |
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| 203 | virtual void attach(const Body* body); |
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| 204 | virtual void attach(const Body* body_a,const Body* body_b); |
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| 205 | }; |
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| 206 | |
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| 207 | class _OgreOdeExport SuspensionJoint:public Joint |
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| 208 | { |
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| 209 | public: |
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| 210 | SuspensionJoint(World *world, const JointGroup* group = 0); |
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| 211 | ~SuspensionJoint(); |
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| 212 | |
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| 213 | virtual void setAnchor(const Ogre::Vector3& position); |
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| 214 | virtual const Ogre::Vector3& getAnchor(); |
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| 215 | virtual const Ogre::Vector3& getAdditionalAnchor(); |
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| 216 | virtual const Ogre::Vector3& getAnchorError(); |
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| 217 | virtual void setAxis(const Ogre::Vector3& axis); |
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| 218 | virtual const Ogre::Vector3& getAxis(); |
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| 219 | virtual void setAdditionalAxis(const Ogre::Vector3& axis); |
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| 220 | virtual const Ogre::Vector3& getAdditionalAxis(); |
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| 221 | virtual Ogre::Real getAngle(); |
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| 222 | virtual Ogre::Real getAngleRate(); |
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| 223 | virtual Ogre::Real getPositionRate(); |
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| 224 | |
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| 225 | virtual void setParameter(Joint::Parameter parameter, Ogre::Real value,int axis = 1); |
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| 226 | virtual Ogre::Real getParameter(Joint::Parameter parameter,int axis = 1); |
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| 227 | |
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| 228 | virtual void addTorque(Ogre::Real torque, Ogre::Real torque2 = 0.0, Ogre::Real torque3 = 0.0); |
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| 229 | |
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| 230 | protected: |
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| 231 | Ogre::Vector3 _anchor2; |
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| 232 | }; |
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| 233 | |
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| 234 | class _OgreOdeExport AngularMotorJoint:public Joint |
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| 235 | { |
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| 236 | public: |
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| 237 | enum Mode |
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| 238 | { |
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| 239 | Mode_UserAngularMotor = dAMotorUser, |
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| 240 | Mode_EulerAngularMotor = dAMotorEuler |
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| 241 | }; |
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| 242 | |
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| 243 | enum RelativeOrientation |
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| 244 | { |
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| 245 | RelativeOrientation_GlobalFrame = 0, |
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| 246 | RelativeOrientation_FirstBody = 1, |
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| 247 | RelativeOrientation_SecondBody = 2 |
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| 248 | }; |
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| 249 | |
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| 250 | public: |
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| 251 | AngularMotorJoint(World *world, const JointGroup* group = 0); |
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| 252 | ~AngularMotorJoint(); |
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| 253 | |
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| 254 | void setMode(AngularMotorJoint::Mode mode); |
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| 255 | AngularMotorJoint::Mode getMode(); |
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| 256 | |
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| 257 | void setAxisCount(int axes); |
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| 258 | int getAxisCount(); |
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| 259 | |
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| 260 | void setAxis(int axis_number,AngularMotorJoint::RelativeOrientation orientation,const Ogre::Vector3& axis); |
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| 261 | const Ogre::Vector3& getAxis(int axis_number); |
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| 262 | AngularMotorJoint::RelativeOrientation getAxisRelativeOrientation(int axis_number); |
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| 263 | |
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| 264 | void setAngle(int axis, Ogre::Real angle); |
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| 265 | Ogre::Real getAngle(int axis); |
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| 266 | Ogre::Real getAngleRate(int axis); |
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| 267 | |
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| 268 | virtual void setParameter(Joint::Parameter parameter, Ogre::Real value,int axis = 1); |
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| 269 | virtual Ogre::Real getParameter(Joint::Parameter parameter,int axis = 1); |
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| 270 | |
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| 271 | virtual void addTorque(Ogre::Real torque, Ogre::Real torque2 = 0.0, Ogre::Real torque3 = 0.0); |
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| 272 | }; |
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| 273 | |
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| 274 | class _OgreOdeExport PlanarJoint:public Joint |
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| 275 | { |
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| 276 | public: |
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| 277 | PlanarJoint(World *world, const JointGroup* group = 0); |
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| 278 | ~PlanarJoint(); |
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| 279 | |
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| 280 | virtual void setParameterX(Joint::Parameter parameter, Ogre::Real value,int axis = 1); |
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| 281 | virtual void setParameterY(Joint::Parameter parameter, Ogre::Real value,int axis = 1); |
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| 282 | virtual void setParameterAngle(Joint::Parameter parameter, Ogre::Real value,int axis = 1); |
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| 283 | }; |
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| 284 | |
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| 285 | |
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| 286 | /** A prismatic and rotoide joint (ODE_API JointPR) combines a Slider (prismatic) and a Hinge (rotoide). |
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| 287 | It can be used to decrease the number of bodies in a simulation. |
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| 288 | Usually you cannot attach 2 ODE joints together they need a body in between. |
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| 289 | An example of use of this type of joint can be in the creation of a hydraulic piston. |
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| 290 | |
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| 291 | The 2 axies must not be parallel. Since this is a new joint only when the 2 joint are at |
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| 292 | 90deg of each other was fully tested. |
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| 293 | */ |
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| 294 | class _OgreOdeExport SliderHingeJoint:public Joint |
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| 295 | { |
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| 296 | public: |
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| 297 | SliderHingeJoint(World *world, const JointGroup* group = 0); |
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| 298 | ~SliderHingeJoint(); |
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| 299 | |
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| 300 | virtual void setAnchor(const Ogre::Vector3& position); |
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| 301 | virtual const Ogre::Vector3& getAnchor(); |
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| 302 | |
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| 303 | // Equivalent to getting the Slider's extension |
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| 304 | virtual Ogre::Real getPosition(); |
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| 305 | virtual Ogre::Real getPositionRate(); |
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| 306 | |
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| 307 | // Set the axis for the Slider articulation |
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| 308 | virtual void setAxis(const Ogre::Vector3& axis); |
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| 309 | // Get the axis for the Slider articulation |
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| 310 | virtual const Ogre::Vector3& getAxis(); |
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| 311 | // Set the axis for the Hinge articulation. |
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| 312 | virtual void setAdditionalAxis(const Ogre::Vector3& axis); |
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| 313 | // Get the axis for the Hinge articulation |
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| 314 | virtual const Ogre::Vector3& getAdditionalAxis(); |
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| 315 | |
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| 316 | // Set joint parameter axis = 3 for Hinge |
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| 317 | virtual void setParameter(Joint::Parameter parameter, Ogre::Real value,int axis = 1); |
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| 318 | virtual Ogre::Real getParameter(Joint::Parameter parameter,int axis = 1); |
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| 319 | |
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| 320 | // Applies the torque about the Hinge axis of the joint |
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| 321 | virtual void addTorque(Ogre::Real torque, Ogre::Real torque2 = 0.0, Ogre::Real torque3 = 0.0); |
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| 322 | }; |
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| 323 | |
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| 324 | |
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| 325 | } |
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| 326 | |
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| 327 | #endif |
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