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Diffstat (limited to 'source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h')
| -rw-r--r-- | source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h | 393 |
1 files changed, 0 insertions, 393 deletions
diff --git a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h b/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h deleted file mode 100644 index 2d748a0f251..00000000000 --- a/source/gameengine/Physics/Sumo/Fuzzics/include/SM_Object.h +++ /dev/null @@ -1,393 +0,0 @@ -/** - * $Id$ - * - * ***** BEGIN GPL 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. - * - * 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 LICENSE BLOCK ***** - */ -#ifndef SM_OBJECT_H -#define SM_OBJECT_H - -#include <vector> - -#include <SOLID/SOLID.h> - -#include "SM_Callback.h" -#include "SM_MotionState.h" -#include <stdio.h> - -class SM_FhObject; - -/** Properties of dynamic objects */ -struct SM_ShapeProps { - MT_Scalar m_mass; ///< Total mass - MT_Scalar m_radius; ///< Bound sphere size - MT_Vector3 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 - MT_Scalar m_friction_scaling[3]; ///< Scaling for anisotropic friction. Component in range [0, 1] - bool m_do_anisotropic; ///< Should I do anisotropic friction? - bool m_do_fh; ///< Should the object have a linear Fh spring? - bool m_do_rot_fh; ///< Should the object have an angular Fh spring? -}; - - -/** Properties of collidable objects (non-ghost objects) */ -struct SM_MaterialProps { - MT_Scalar m_restitution; ///< restitution of energy after a collision 0 = inelastic, 1 = elastic - MT_Scalar m_friction; ///< Coulomb friction (= ratio between the normal en maximum friction force) - MT_Scalar m_fh_spring; ///< Spring constant (both linear and angular) - MT_Scalar m_fh_damping; ///< Damping factor (linear and angular) in range [0, 1] - MT_Scalar m_fh_distance; ///< The range above the surface where Fh is active. - bool m_fh_normal; ///< Should the object slide off slopes? -}; - -class SM_ClientObject -{ -public: - SM_ClientObject() {} - virtual ~SM_ClientObject() {} - - virtual bool hasCollisionCallback() = 0; -}; - -/** - * SM_Object is an internal part of the Sumo physics engine. - * - * It encapsulates an object in the physics scene, and is responsible - * for calculating the collision response of objects. - */ -class SM_Object -{ -public: - SM_Object() ; - SM_Object( - DT_ShapeHandle shape, - const SM_MaterialProps *materialProps, - const SM_ShapeProps *shapeProps, - SM_Object *dynamicParent - ); - virtual ~SM_Object(); - - bool isDynamic() const; - - /* nzc experimental. There seem to be two places where kinematics - * are evaluated: proceedKinematic (called from SM_Scene) and - * proceed() in this object. I'll just try and bunge these out for - * now. */ - - void suspend(void); - void resume(void); - - void suspendDynamics(); - - void restoreDynamics(); - - bool isGhost() const; - - void suspendMaterial(); - - void restoreMaterial(); - - SM_FhObject *getFhObject() const; - - void registerCallback(SM_Callback& callback); - - void calcXform(); - void notifyClient(); - void updateInvInertiaTensor(); - - - // Save the current state information for use in the - // velocity computation in the next frame. - - void proceedKinematic(MT_Scalar timeStep); - - void saveReactionForce(MT_Scalar timeStep) ; - - void clearForce() ; - - void clearMomentum() ; - - void setMargin(MT_Scalar margin) ; - - MT_Scalar getMargin() const ; - - const SM_MaterialProps *getMaterialProps() const ; - - const SM_ShapeProps *getShapeProps() const ; - - void setPosition(const MT_Point3& pos); - void setOrientation(const MT_Quaternion& orn); - void setScaling(const MT_Vector3& scaling); - - /** - * set an external velocity. This velocity complements - * the physics velocity. So setting it does not override the - * physics velocity. It is your responsibility to clear - * this external velocity. This velocity is not subject to - * friction or damping. - */ - void setExternalLinearVelocity(const MT_Vector3& lin_vel) ; - void addExternalLinearVelocity(const MT_Vector3& lin_vel) ; - - /** Override the physics velocity */ - void addLinearVelocity(const MT_Vector3& lin_vel); - void setLinearVelocity(const MT_Vector3& lin_vel); - - /** - * Set an external angular velocity. This velocity complemetns - * the physics angular velocity so does not override it. It is - * your responsibility to clear this velocity. This velocity - * is not subject to friction or damping. - */ - void setExternalAngularVelocity(const MT_Vector3& ang_vel) ; - void addExternalAngularVelocity(const MT_Vector3& ang_vel); - - /** Override the physics angular velocity */ - void addAngularVelocity(const MT_Vector3& ang_vel); - void setAngularVelocity(const MT_Vector3& ang_vel); - - /** Clear the external velocities */ - void clearCombinedVelocities(); - - /** - * Tell the physics system to combine the external velocity - * with the physics velocity. - */ - void resolveCombinedVelocities( - const MT_Vector3 & lin_vel, - const MT_Vector3 & ang_vel - ) ; - - - - MT_Scalar getInvMass() const; - - const MT_Vector3& getInvInertia() const ; - - const MT_Matrix3x3& getInvInertiaTensor() const; - - void applyForceField(const MT_Vector3& accel) ; - - void applyCenterForce(const MT_Vector3& force) ; - - void applyTorque(const MT_Vector3& torque) ; - - /** - * Apply an impulse to the object. The impulse will be split into - * angular and linear components. - * @param attach point to apply the impulse to (in world coordinates) - */ - void applyImpulse(const MT_Point3& attach, const MT_Vector3& impulse) ; - - /** - * Applies an impulse through the center of this object. (ie the angular - * velocity will not change. - */ - void applyCenterImpulse(const MT_Vector3& impulse); - /** - * Applies an angular impulse. - */ - 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; - - - const MT_Vector3& getReactionForce() const ; - - void getMatrix(double *m) const ; - - const double *getMatrix() const ; - - // Still need this??? - const MT_Transform& getScaledTransform() const; - - DT_ObjectHandle getObjectHandle() const ; - DT_ShapeHandle getShapeHandle() const ; - - SM_Object *getDynamicParent() ; - - void integrateForces(MT_Scalar timeStep); - void integrateMomentum(MT_Scalar timeSteo); - - void setRigidBody(bool is_rigid_body) ; - - bool isRigidBody() const ; - - // This is the callback for handling collisions of dynamic objects - static - DT_Bool - boing( - void *client_data, - void *object1, - void *object2, - const DT_CollData *coll_data - ); - - static - DT_Bool - fix( - void *client_data, - void *object1, - void *object2, - const DT_CollData *coll_data - ); - - - SM_ClientObject *getClientObject() { return m_client_object; } - void setClientObject(SM_ClientObject *client_object) { m_client_object = client_object; } - void setPhysicsClientObject(void* physicsClientObject) - { - m_physicsClientObject = physicsClientObject; - } - void* getPhysicsClientObject() { - return m_physicsClientObject; - } - void relax(); - - SM_MotionState &getCurrentFrame(); - SM_MotionState &getPreviousFrame(); - SM_MotionState &getNextFrame(); - - const SM_MotionState &getCurrentFrame() const; - const SM_MotionState &getPreviousFrame() const; - const SM_MotionState &getNextFrame() const; - - // Motion state functions - const MT_Point3& getPosition() const; - const MT_Quaternion& getOrientation() const; - const MT_Vector3& getLinearVelocity() const; - const MT_Vector3& getAngularVelocity() const; - - MT_Scalar getTime() const; - - void setTime(MT_Scalar time); - - void interpolate(MT_Scalar timeStep); - void endFrame(); - -private: - friend class Contact; - // Tweak parameters - static MT_Scalar ImpulseThreshold; - - // return the actual linear_velocity of this object this - // is the addition of m_combined_lin_vel and m_lin_vel. - - const - MT_Vector3 - actualLinVelocity( - ) const ; - - const - MT_Vector3 - actualAngVelocity( - ) const ; - - void dynamicCollision(const MT_Point3 &local2, - const MT_Vector3 &normal, - MT_Scalar dist, - const 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) - SM_Object *m_dynamicParent; // Collisions between parent and children are ignored - - // as the collision callback now has only information - // on an SM_Object, there must be a way that the SM_Object client - // can identify it's clientdata after a collision - SM_ClientObject *m_client_object; - - void* m_physicsClientObject; - - DT_ShapeHandle m_shape; // Shape for collision detection - - // Material and shape properties are not owned by this class. - - const SM_MaterialProps *m_materialProps; - 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. - 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 - - double m_ogl_matrix[16]; // An OpenGL-type 4x4 matrix - MT_Transform m_xform; // The object's local coordinate system - MT_Transform m_prev_xform; // The object's local coordinate system in the previous frame - SM_MotionState m_prev_state; // The object's motion state in the previous frame - MT_Scalar m_timeStep; // The duration of the last frame - - MT_Vector3 m_reaction_impulse; // The accumulated impulse resulting from collisions - MT_Vector3 m_reaction_force; // The reaction force derived from the reaction impulse - - MT_Vector3 m_lin_mom; // Linear momentum (linear velocity times mass) - 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 angular momentum) - - SM_MotionState m_frames[3]; - - 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 - // (actuators and python) each frame and combined with the - // physics values. At the end of each frame (at the end of a - // call to proceed) they are set to zero. This allows the - // outside world to contribute to the velocity of an object - // but still have it react to physics. - - MT_Vector3 m_combined_lin_vel; - MT_Vector3 m_combined_ang_vel; - - // The force and torque are the accumulated forces and torques applied by the client (game logic, python). - - SM_FhObject *m_fh_object; // The ray object used for Fh - bool m_suspended; // Is this object frozen? - - // Mass properties - MT_Scalar m_inv_mass; // 1/mass - MT_Vector3 m_inv_inertia; // [1/inertia_x, 1/inertia_y, 1/inertia_z] - MT_Matrix3x3 m_inv_inertia_tensor; // Inverse Inertia Tensor - - bool m_kinematic; // Have I been displaced (translated, rotated, scaled) in this frame? - bool m_prev_kinematic; // Have I been displaced (translated, rotated, scaled) in the previous frame? - bool m_is_rigid_body; // Should friction give me a change in angular momentum? - int m_static; // temporarily static. - -}; - -#endif - |