From d48ea5bb797037069d641da41da0f195f0124491 Mon Sep 17 00:00:00 2001 From: dan miller Date: Fri, 19 Oct 2007 05:20:48 +0000 Subject: one more for the gipper --- libraries/ode-0.9/ode/src/objects.h | 138 ++++++++++++++++++++++++++++++++++++ 1 file changed, 138 insertions(+) create mode 100644 libraries/ode-0.9/ode/src/objects.h (limited to 'libraries/ode-0.9/ode/src/objects.h') diff --git a/libraries/ode-0.9/ode/src/objects.h b/libraries/ode-0.9/ode/src/objects.h new file mode 100644 index 0000000..f286e2d --- /dev/null +++ b/libraries/ode-0.9/ode/src/objects.h @@ -0,0 +1,138 @@ +/************************************************************************* + * * + * 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 +#include +#include +#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 -- cgit v1.1