diff options
Diffstat (limited to 'source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h')
| -rw-r--r-- | source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h | 84 |
1 files changed, 72 insertions, 12 deletions
diff --git a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h index 5342ba5d3a5..c84a3c2ff56 100644 --- a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h +++ b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h @@ -1,9 +1,40 @@ +/** + * $Id$ + * + * ***** BEGIN GPL/BL DUAL LICENSE BLOCK ***** + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. The Blender + * Foundation also sells licenses for use in proprietary software under + * the Blender License. See http://www.blender.org/BL/ for information + * about this. + * + * This program 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 + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software Foundation, + * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. + * All rights reserved. + * + * The Original Code is: all of this file. + * + * Contributor(s): none yet. + * + * ***** END GPL/BL DUAL LICENSE BLOCK ***** + */ #ifndef SM_OBJECT_H #define SM_OBJECT_H #include <vector> -#include "solid.h" +#include <SOLID/SOLID.h> #include "SM_Callback.h" #include "SM_MotionState.h" @@ -15,6 +46,7 @@ class SM_FhObject; // Properties of dynamic objects struct SM_ShapeProps { MT_Scalar m_mass; // Total mass + MT_Scalar m_radius; // Bound sphere size MT_Scalar m_inertia; // Inertia, should be a tensor some time MT_Scalar m_lin_drag; // Linear drag (air, water) 0 = concrete, 1 = vacuum MT_Scalar m_ang_drag; // Angular drag @@ -36,6 +68,7 @@ struct SM_MaterialProps { }; + class SM_Object : public SM_MotionState { public: SM_Object() ; @@ -45,7 +78,6 @@ public: const SM_ShapeProps *shapeProps, SM_Object *dynamicParent ); - virtual ~SM_Object(); bool isDynamic() const; @@ -89,7 +121,7 @@ public: void setMargin(MT_Scalar margin) ; MT_Scalar getMargin() const ; - + const SM_MaterialProps *getMaterialProps() const ; const SM_ShapeProps *getShapeProps() const ; @@ -164,7 +196,8 @@ public: void applyAngularImpulse(const MT_Vector3& impulse); MT_Point3 getWorldCoord(const MT_Point3& local) const; - + MT_Point3 getLocalCoord(const MT_Point3& world) const; + MT_Vector3 getVelocity(const MT_Point3& local) const; @@ -180,9 +213,6 @@ public: DT_ObjectHandle getObjectHandle() const ; DT_ShapeHandle getShapeHandle() const ; - void setClientObject(void *clientobj) ; - void *getClientObject() ; - SM_Object *getDynamicParent() ; void integrateForces(MT_Scalar timeStep); @@ -192,10 +222,9 @@ public: bool isRigidBody() const ; - // This is the callback for handling collisions of dynamic objects static - void + DT_Bool boing( void *client_data, void *object1, @@ -203,6 +232,26 @@ public: const DT_CollData *coll_data ); + static + DT_Bool + fix( + void *client_data, + void *object1, + void *object2, + const DT_CollData *coll_data + ); + + + void *getClientObject() { return m_client_object; } + void setClientObject(void *client_object) { m_client_object = client_object; } + + void relax(); + + void backup() { + m_pos = m_prev_state.getPosition(); + m_orn = m_prev_state.getOrientation(); + m_xform = m_prev_xform; + } private: // return the actual linear_velocity of this object this @@ -217,11 +266,20 @@ private: MT_Vector3 actualAngVelocity( ) const ; + + void dynamicCollision(MT_Point3 local2, + MT_Vector3 normal, + MT_Scalar dist, + MT_Vector3 rel_vel, + MT_Scalar restitution, + MT_Scalar friction_factor, + MT_Scalar invMass + ); typedef std::vector<SM_Callback *> T_CallbackList; - T_CallbackList m_callbackList; // Each object can have multiple callbacks from the client (=game engine) + T_CallbackList m_callbackList; // Each object can have multiple callbacks from the client (=game engine) SM_Object *m_dynamicParent; // Collisions between parent and children are ignored // as the collision callback now has only information @@ -229,7 +287,7 @@ private: // can identify it's clientdata after a collision void *m_client_object; - DT_ShapeHandle m_shape; // Shape for collision detection + DT_ShapeHandle m_shape; // Shape for collision detection // Material and shape properties are not owned by this class. @@ -237,7 +295,7 @@ private: const SM_MaterialProps *m_materialPropsBackup; // Backup in case the object temporarily becomes a ghost. const SM_ShapeProps *m_shapeProps; const SM_ShapeProps *m_shapePropsBackup; // Backup in case the object's dynamics is temporarily suspended - DT_ObjectHandle m_object; // A handle to the corresponding object in SOLID. + DT_ObjectHandle m_object; // A handle to the corresponding object in SOLID. MT_Scalar m_margin; // Offset for the object's shape (also for collision detection) MT_Vector3 m_scaling; // Non-uniform scaling of the object's shape @@ -258,6 +316,8 @@ private: MT_Vector3 m_ang_mom; // Angular momentum (angualr velocity times inertia) MT_Vector3 m_force; // Force on center of mass (afffects linear momentum) MT_Vector3 m_torque; // Torque around center of mass (affects angualr momentum) + + MT_Vector3 m_error; // Error in position:- amount object must be moved to prevent intersection with scene // Here are the values of externally set linear and angular // velocity. These are updated from the outside |