From fca74b0bf0a0833f5701e9c0de7b3bc15b2233dd Mon Sep 17 00:00:00 2001 From: dan miller Date: Fri, 19 Oct 2007 05:20:07 +0000 Subject: dont ask --- libraries/ode-0.9/ode/src/objects.h | 138 ------------------------------------ 1 file changed, 138 deletions(-) delete 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 deleted file mode 100644 index f286e2d..0000000 --- a/libraries/ode-0.9/ode/src/objects.h +++ /dev/null @@ -1,138 +0,0 @@ -/************************************************************************* - * * - * 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