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/ode.cpp | 1732 ------------------------------------- 1 file changed, 1732 deletions(-) delete mode 100644 libraries/ode-0.9/ode/src/ode.cpp (limited to 'libraries/ode-0.9/ode/src/ode.cpp') diff --git a/libraries/ode-0.9/ode/src/ode.cpp b/libraries/ode-0.9/ode/src/ode.cpp deleted file mode 100644 index 46f559a..0000000 --- a/libraries/ode-0.9/ode/src/ode.cpp +++ /dev/null @@ -1,1732 +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. * - * * - *************************************************************************/ - -#ifdef _MSC_VER -#pragma warning(disable:4291) // for VC++, no complaints about "no matching operator delete found" -#endif - -// this source file is mostly concerned with the data structures, not the -// numerics. - -#include "objects.h" -#include -#include "joint.h" -#include -#include -#include "step.h" -#include "quickstep.h" -#include "util.h" -#include -#include - -// misc defines -#define ALLOCA dALLOCA16 - -//**************************************************************************** -// utility - -static inline void initObject (dObject *obj, dxWorld *w) -{ - obj->world = w; - obj->next = 0; - obj->tome = 0; - obj->userdata = 0; - obj->tag = 0; -} - - -// add an object `obj' to the list who's head pointer is pointed to by `first'. - -static inline void addObjectToList (dObject *obj, dObject **first) -{ - obj->next = *first; - obj->tome = first; - if (*first) (*first)->tome = &obj->next; - (*first) = obj; -} - - -// remove the object from the linked list - -static inline void removeObjectFromList (dObject *obj) -{ - if (obj->next) obj->next->tome = obj->tome; - *(obj->tome) = obj->next; - // safeguard - obj->next = 0; - obj->tome = 0; -} - - -// remove the joint from neighbour lists of all connected bodies - -static void removeJointReferencesFromAttachedBodies (dxJoint *j) -{ - for (int i=0; i<2; i++) { - dxBody *body = j->node[i].body; - if (body) { - dxJointNode *n = body->firstjoint; - dxJointNode *last = 0; - while (n) { - if (n->joint == j) { - if (last) last->next = n->next; - else body->firstjoint = n->next; - break; - } - last = n; - n = n->next; - } - } - } - j->node[0].body = 0; - j->node[0].next = 0; - j->node[1].body = 0; - j->node[1].next = 0; -} - -//**************************************************************************** -// debugging - -// see if an object list loops on itself (if so, it's bad). - -static int listHasLoops (dObject *first) -{ - if (first==0 || first->next==0) return 0; - dObject *a=first,*b=first->next; - int skip=0; - while (b) { - if (a==b) return 1; - b = b->next; - if (skip) a = a->next; - skip ^= 1; - } - return 0; -} - - -// check the validity of the world data structures - -static void checkWorld (dxWorld *w) -{ - dxBody *b; - dxJoint *j; - - // check there are no loops - if (listHasLoops (w->firstbody)) dDebug (0,"body list has loops"); - if (listHasLoops (w->firstjoint)) dDebug (0,"joint list has loops"); - - // check lists are well formed (check `tome' pointers) - for (b=w->firstbody; b; b=(dxBody*)b->next) { - if (b->next && b->next->tome != &b->next) - dDebug (0,"bad tome pointer in body list"); - } - for (j=w->firstjoint; j; j=(dxJoint*)j->next) { - if (j->next && j->next->tome != &j->next) - dDebug (0,"bad tome pointer in joint list"); - } - - // check counts - int n = 0; - for (b=w->firstbody; b; b=(dxBody*)b->next) n++; - if (w->nb != n) dDebug (0,"body count incorrect"); - n = 0; - for (j=w->firstjoint; j; j=(dxJoint*)j->next) n++; - if (w->nj != n) dDebug (0,"joint count incorrect"); - - // set all tag values to a known value - static int count = 0; - count++; - for (b=w->firstbody; b; b=(dxBody*)b->next) b->tag = count; - for (j=w->firstjoint; j; j=(dxJoint*)j->next) j->tag = count; - - // check all body/joint world pointers are ok - for (b=w->firstbody; b; b=(dxBody*)b->next) if (b->world != w) - dDebug (0,"bad world pointer in body list"); - for (j=w->firstjoint; j; j=(dxJoint*)j->next) if (j->world != w) - dDebug (0,"bad world pointer in joint list"); - - /* - // check for half-connected joints - actually now these are valid - for (j=w->firstjoint; j; j=(dxJoint*)j->next) { - if (j->node[0].body || j->node[1].body) { - if (!(j->node[0].body && j->node[1].body)) - dDebug (0,"half connected joint found"); - } - } - */ - - // check that every joint node appears in the joint lists of both bodies it - // attaches - for (j=w->firstjoint; j; j=(dxJoint*)j->next) { - for (int i=0; i<2; i++) { - if (j->node[i].body) { - int ok = 0; - for (dxJointNode *n=j->node[i].body->firstjoint; n; n=n->next) { - if (n->joint == j) ok = 1; - } - if (ok==0) dDebug (0,"joint not in joint list of attached body"); - } - } - } - - // check all body joint lists (correct body ptrs) - for (b=w->firstbody; b; b=(dxBody*)b->next) { - for (dxJointNode *n=b->firstjoint; n; n=n->next) { - if (&n->joint->node[0] == n) { - if (n->joint->node[1].body != b) - dDebug (0,"bad body pointer in joint node of body list (1)"); - } - else { - if (n->joint->node[0].body != b) - dDebug (0,"bad body pointer in joint node of body list (2)"); - } - if (n->joint->tag != count) dDebug (0,"bad joint node pointer in body"); - } - } - - // check all body pointers in joints, check they are distinct - for (j=w->firstjoint; j; j=(dxJoint*)j->next) { - if (j->node[0].body && (j->node[0].body == j->node[1].body)) - dDebug (0,"non-distinct body pointers in joint"); - if ((j->node[0].body && j->node[0].body->tag != count) || - (j->node[1].body && j->node[1].body->tag != count)) - dDebug (0,"bad body pointer in joint"); - } -} - - -void dWorldCheck (dxWorld *w) -{ - checkWorld (w); -} - -//**************************************************************************** -// body -dxWorld* dBodyGetWorld (dxBody* b) -{ - dAASSERT (b); - return b->world; -} - -dxBody *dBodyCreate (dxWorld *w) -{ - dAASSERT (w); - dxBody *b = new dxBody; - initObject (b,w); - b->firstjoint = 0; - b->flags = 0; - b->geom = 0; - b->average_lvel_buffer = 0; - b->average_avel_buffer = 0; - dMassSetParameters (&b->mass,1,0,0,0,1,1,1,0,0,0); - dSetZero (b->invI,4*3); - b->invI[0] = 1; - b->invI[5] = 1; - b->invI[10] = 1; - b->invMass = 1; - dSetZero (b->posr.pos,4); - dSetZero (b->q,4); - b->q[0] = 1; - dRSetIdentity (b->posr.R); - dSetZero (b->lvel,4); - dSetZero (b->avel,4); - dSetZero (b->facc,4); - dSetZero (b->tacc,4); - dSetZero (b->finite_rot_axis,4); - addObjectToList (b,(dObject **) &w->firstbody); - w->nb++; - - // set auto-disable parameters - b->average_avel_buffer = b->average_lvel_buffer = 0; // no buffer at beginnin - dBodySetAutoDisableDefaults (b); // must do this after adding to world - b->adis_stepsleft = b->adis.idle_steps; - b->adis_timeleft = b->adis.idle_time; - b->average_counter = 0; - b->average_ready = 0; // average buffer not filled on the beginning - dBodySetAutoDisableAverageSamplesCount(b, b->adis.average_samples); - - return b; -} - - -void dBodyDestroy (dxBody *b) -{ - dAASSERT (b); - - // all geoms that link to this body must be notified that the body is about - // to disappear. note that the call to dGeomSetBody(geom,0) will result in - // dGeomGetBodyNext() returning 0 for the body, so we must get the next body - // before setting the body to 0. - dxGeom *next_geom = 0; - for (dxGeom *geom = b->geom; geom; geom = next_geom) { - next_geom = dGeomGetBodyNext (geom); - dGeomSetBody (geom,0); - } - - // detach all neighbouring joints, then delete this body. - dxJointNode *n = b->firstjoint; - while (n) { - // sneaky trick to speed up removal of joint references (black magic) - n->joint->node[(n == n->joint->node)].body = 0; - - dxJointNode *next = n->next; - n->next = 0; - removeJointReferencesFromAttachedBodies (n->joint); - n = next; - } - removeObjectFromList (b); - b->world->nb--; - - // delete the average buffers - if(b->average_lvel_buffer) - { - delete[] (b->average_lvel_buffer); - b->average_lvel_buffer = 0; - } - if(b->average_avel_buffer) - { - delete[] (b->average_avel_buffer); - b->average_avel_buffer = 0; - } - - delete b; -} - - -void dBodySetData (dBodyID b, void *data) -{ - dAASSERT (b); - b->userdata = data; -} - - -void *dBodyGetData (dBodyID b) -{ - dAASSERT (b); - return b->userdata; -} - - -void dBodySetPosition (dBodyID b, dReal x, dReal y, dReal z) -{ - dAASSERT (b); - b->posr.pos[0] = x; - b->posr.pos[1] = y; - b->posr.pos[2] = z; - - // notify all attached geoms that this body has moved - for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom)) - dGeomMoved (geom); -} - - -void dBodySetRotation (dBodyID b, const dMatrix3 R) -{ - dAASSERT (b && R); - dQuaternion q; - dRtoQ (R,q); - dNormalize4 (q); - b->q[0] = q[0]; - b->q[1] = q[1]; - b->q[2] = q[2]; - b->q[3] = q[3]; - dQtoR (b->q,b->posr.R); - - // notify all attached geoms that this body has moved - for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom)) - dGeomMoved (geom); -} - - -void dBodySetQuaternion (dBodyID b, const dQuaternion q) -{ - dAASSERT (b && q); - b->q[0] = q[0]; - b->q[1] = q[1]; - b->q[2] = q[2]; - b->q[3] = q[3]; - dNormalize4 (b->q); - dQtoR (b->q,b->posr.R); - - // notify all attached geoms that this body has moved - for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom)) - dGeomMoved (geom); -} - - -void dBodySetLinearVel (dBodyID b, dReal x, dReal y, dReal z) -{ - dAASSERT (b); - b->lvel[0] = x; - b->lvel[1] = y; - b->lvel[2] = z; -} - - -void dBodySetAngularVel (dBodyID b, dReal x, dReal y, dReal z) -{ - dAASSERT (b); - b->avel[0] = x; - b->avel[1] = y; - b->avel[2] = z; -} - - -const dReal * dBodyGetPosition (dBodyID b) -{ - dAASSERT (b); - return b->posr.pos; -} - - -void dBodyCopyPosition (dBodyID b, dVector3 pos) -{ - dAASSERT (b); - dReal* src = b->posr.pos; - pos[0] = src[0]; - pos[1] = src[1]; - pos[2] = src[2]; -} - - -const dReal * dBodyGetRotation (dBodyID b) -{ - dAASSERT (b); - return b->posr.R; -} - - -void dBodyCopyRotation (dBodyID b, dMatrix3 R) -{ - dAASSERT (b); - const dReal* src = b->posr.R; - R[0] = src[0]; - R[1] = src[1]; - R[2] = src[2]; - R[3] = src[3]; - R[4] = src[4]; - R[5] = src[5]; - R[6] = src[6]; - R[7] = src[7]; - R[8] = src[8]; - R[9] = src[9]; - R[10] = src[10]; - R[11] = src[11]; -} - - -const dReal * dBodyGetQuaternion (dBodyID b) -{ - dAASSERT (b); - return b->q; -} - - -void dBodyCopyQuaternion (dBodyID b, dQuaternion quat) -{ - dAASSERT (b); - dReal* src = b->q; - quat[0] = src[0]; - quat[1] = src[1]; - quat[2] = src[2]; - quat[3] = src[3]; -} - - -const dReal * dBodyGetLinearVel (dBodyID b) -{ - dAASSERT (b); - return b->lvel; -} - - -const dReal * dBodyGetAngularVel (dBodyID b) -{ - dAASSERT (b); - return b->avel; -} - - -void dBodySetMass (dBodyID b, const dMass *mass) -{ - dAASSERT (b && mass ); - dIASSERT(dMassCheck(mass)); - - // The centre of mass must be at the origin. - // Use dMassTranslate( mass, -mass->c[0], -mass->c[1], -mass->c[2] ) to correct it. - dUASSERT( fabs( mass->c[0] ) <= dEpsilon && - fabs( mass->c[1] ) <= dEpsilon && - fabs( mass->c[2] ) <= dEpsilon, "The centre of mass must be at the origin." ) - - memcpy (&b->mass,mass,sizeof(dMass)); - if (dInvertPDMatrix (b->mass.I,b->invI,3)==0) { - dDEBUGMSG ("inertia must be positive definite!"); - dRSetIdentity (b->invI); - } - b->invMass = dRecip(b->mass.mass); -} - - -void dBodyGetMass (dBodyID b, dMass *mass) -{ - dAASSERT (b && mass); - memcpy (mass,&b->mass,sizeof(dMass)); -} - - -void dBodyAddForce (dBodyID b, dReal fx, dReal fy, dReal fz) -{ - dAASSERT (b); - b->facc[0] += fx; - b->facc[1] += fy; - b->facc[2] += fz; -} - - -void dBodyAddTorque (dBodyID b, dReal fx, dReal fy, dReal fz) -{ - dAASSERT (b); - b->tacc[0] += fx; - b->tacc[1] += fy; - b->tacc[2] += fz; -} - - -void dBodyAddRelForce (dBodyID b, dReal fx, dReal fy, dReal fz) -{ - dAASSERT (b); - dVector3 t1,t2; - t1[0] = fx; - t1[1] = fy; - t1[2] = fz; - t1[3] = 0; - dMULTIPLY0_331 (t2,b->posr.R,t1); - b->facc[0] += t2[0]; - b->facc[1] += t2[1]; - b->facc[2] += t2[2]; -} - - -void dBodyAddRelTorque (dBodyID b, dReal fx, dReal fy, dReal fz) -{ - dAASSERT (b); - dVector3 t1,t2; - t1[0] = fx; - t1[1] = fy; - t1[2] = fz; - t1[3] = 0; - dMULTIPLY0_331 (t2,b->posr.R,t1); - b->tacc[0] += t2[0]; - b->tacc[1] += t2[1]; - b->tacc[2] += t2[2]; -} - - -void dBodyAddForceAtPos (dBodyID b, dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz) -{ - dAASSERT (b); - b->facc[0] += fx; - b->facc[1] += fy; - b->facc[2] += fz; - dVector3 f,q; - f[0] = fx; - f[1] = fy; - f[2] = fz; - q[0] = px - b->posr.pos[0]; - q[1] = py - b->posr.pos[1]; - q[2] = pz - b->posr.pos[2]; - dCROSS (b->tacc,+=,q,f); -} - - -void dBodyAddForceAtRelPos (dBodyID b, dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz) -{ - dAASSERT (b); - dVector3 prel,f,p; - f[0] = fx; - f[1] = fy; - f[2] = fz; - f[3] = 0; - prel[0] = px; - prel[1] = py; - prel[2] = pz; - prel[3] = 0; - dMULTIPLY0_331 (p,b->posr.R,prel); - b->facc[0] += f[0]; - b->facc[1] += f[1]; - b->facc[2] += f[2]; - dCROSS (b->tacc,+=,p,f); -} - - -void dBodyAddRelForceAtPos (dBodyID b, dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz) -{ - dAASSERT (b); - dVector3 frel,f; - frel[0] = fx; - frel[1] = fy; - frel[2] = fz; - frel[3] = 0; - dMULTIPLY0_331 (f,b->posr.R,frel); - b->facc[0] += f[0]; - b->facc[1] += f[1]; - b->facc[2] += f[2]; - dVector3 q; - q[0] = px - b->posr.pos[0]; - q[1] = py - b->posr.pos[1]; - q[2] = pz - b->posr.pos[2]; - dCROSS (b->tacc,+=,q,f); -} - - -void dBodyAddRelForceAtRelPos (dBodyID b, dReal fx, dReal fy, dReal fz, - dReal px, dReal py, dReal pz) -{ - dAASSERT (b); - dVector3 frel,prel,f,p; - frel[0] = fx; - frel[1] = fy; - frel[2] = fz; - frel[3] = 0; - prel[0] = px; - prel[1] = py; - prel[2] = pz; - prel[3] = 0; - dMULTIPLY0_331 (f,b->posr.R,frel); - dMULTIPLY0_331 (p,b->posr.R,prel); - b->facc[0] += f[0]; - b->facc[1] += f[1]; - b->facc[2] += f[2]; - dCROSS (b->tacc,+=,p,f); -} - - -const dReal * dBodyGetForce (dBodyID b) -{ - dAASSERT (b); - return b->facc; -} - - -const dReal * dBodyGetTorque (dBodyID b) -{ - dAASSERT (b); - return b->tacc; -} - - -void dBodySetForce (dBodyID b, dReal x, dReal y, dReal z) -{ - dAASSERT (b); - b->facc[0] = x; - b->facc[1] = y; - b->facc[2] = z; -} - - -void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z) -{ - dAASSERT (b); - b->tacc[0] = x; - b->tacc[1] = y; - b->tacc[2] = z; -} - - -void dBodyGetRelPointPos (dBodyID b, dReal px, dReal py, dReal pz, - dVector3 result) -{ - dAASSERT (b); - dVector3 prel,p; - prel[0] = px; - prel[1] = py; - prel[2] = pz; - prel[3] = 0; - dMULTIPLY0_331 (p,b->posr.R,prel); - result[0] = p[0] + b->posr.pos[0]; - result[1] = p[1] + b->posr.pos[1]; - result[2] = p[2] + b->posr.pos[2]; -} - - -void dBodyGetRelPointVel (dBodyID b, dReal px, dReal py, dReal pz, - dVector3 result) -{ - dAASSERT (b); - dVector3 prel,p; - prel[0] = px; - prel[1] = py; - prel[2] = pz; - prel[3] = 0; - dMULTIPLY0_331 (p,b->posr.R,prel); - result[0] = b->lvel[0]; - result[1] = b->lvel[1]; - result[2] = b->lvel[2]; - dCROSS (result,+=,b->avel,p); -} - - -void dBodyGetPointVel (dBodyID b, dReal px, dReal py, dReal pz, - dVector3 result) -{ - dAASSERT (b); - dVector3 p; - p[0] = px - b->posr.pos[0]; - p[1] = py - b->posr.pos[1]; - p[2] = pz - b->posr.pos[2]; - p[3] = 0; - result[0] = b->lvel[0]; - result[1] = b->lvel[1]; - result[2] = b->lvel[2]; - dCROSS (result,+=,b->avel,p); -} - - -void dBodyGetPosRelPoint (dBodyID b, dReal px, dReal py, dReal pz, - dVector3 result) -{ - dAASSERT (b); - dVector3 prel; - prel[0] = px - b->posr.pos[0]; - prel[1] = py - b->posr.pos[1]; - prel[2] = pz - b->posr.pos[2]; - prel[3] = 0; - dMULTIPLY1_331 (result,b->posr.R,prel); -} - - -void dBodyVectorToWorld (dBodyID b, dReal px, dReal py, dReal pz, - dVector3 result) -{ - dAASSERT (b); - dVector3 p; - p[0] = px; - p[1] = py; - p[2] = pz; - p[3] = 0; - dMULTIPLY0_331 (result,b->posr.R,p); -} - - -void dBodyVectorFromWorld (dBodyID b, dReal px, dReal py, dReal pz, - dVector3 result) -{ - dAASSERT (b); - dVector3 p; - p[0] = px; - p[1] = py; - p[2] = pz; - p[3] = 0; - dMULTIPLY1_331 (result,b->posr.R,p); -} - - -void dBodySetFiniteRotationMode (dBodyID b, int mode) -{ - dAASSERT (b); - b->flags &= ~(dxBodyFlagFiniteRotation | dxBodyFlagFiniteRotationAxis); - if (mode) { - b->flags |= dxBodyFlagFiniteRotation; - if (b->finite_rot_axis[0] != 0 || b->finite_rot_axis[1] != 0 || - b->finite_rot_axis[2] != 0) { - b->flags |= dxBodyFlagFiniteRotationAxis; - } - } -} - - -void dBodySetFiniteRotationAxis (dBodyID b, dReal x, dReal y, dReal z) -{ - dAASSERT (b); - b->finite_rot_axis[0] = x; - b->finite_rot_axis[1] = y; - b->finite_rot_axis[2] = z; - if (x != 0 || y != 0 || z != 0) { - dNormalize3 (b->finite_rot_axis); - b->flags |= dxBodyFlagFiniteRotationAxis; - } - else { - b->flags &= ~dxBodyFlagFiniteRotationAxis; - } -} - - -int dBodyGetFiniteRotationMode (dBodyID b) -{ - dAASSERT (b); - return ((b->flags & dxBodyFlagFiniteRotation) != 0); -} - - -void dBodyGetFiniteRotationAxis (dBodyID b, dVector3 result) -{ - dAASSERT (b); - result[0] = b->finite_rot_axis[0]; - result[1] = b->finite_rot_axis[1]; - result[2] = b->finite_rot_axis[2]; -} - - -int dBodyGetNumJoints (dBodyID b) -{ - dAASSERT (b); - int count=0; - for (dxJointNode *n=b->firstjoint; n; n=n->next, count++); - return count; -} - - -dJointID dBodyGetJoint (dBodyID b, int index) -{ - dAASSERT (b); - int i=0; - for (dxJointNode *n=b->firstjoint; n; n=n->next, i++) { - if (i == index) return n->joint; - } - return 0; -} - - -void dBodyEnable (dBodyID b) -{ - dAASSERT (b); - b->flags &= ~dxBodyDisabled; - b->adis_stepsleft = b->adis.idle_steps; - b->adis_timeleft = b->adis.idle_time; - // no code for average-processing needed here -} - - -void dBodyDisable (dBodyID b) -{ - dAASSERT (b); - b->flags |= dxBodyDisabled; -} - - -int dBodyIsEnabled (dBodyID b) -{ - dAASSERT (b); - return ((b->flags & dxBodyDisabled) == 0); -} - - -void dBodySetGravityMode (dBodyID b, int mode) -{ - dAASSERT (b); - if (mode) b->flags &= ~dxBodyNoGravity; - else b->flags |= dxBodyNoGravity; -} - - -int dBodyGetGravityMode (dBodyID b) -{ - dAASSERT (b); - return ((b->flags & dxBodyNoGravity) == 0); -} - - -// body auto-disable functions - -dReal dBodyGetAutoDisableLinearThreshold (dBodyID b) -{ - dAASSERT(b); - return dSqrt (b->adis.linear_average_threshold); -} - - -void dBodySetAutoDisableLinearThreshold (dBodyID b, dReal linear_average_threshold) -{ - dAASSERT(b); - b->adis.linear_average_threshold = linear_average_threshold * linear_average_threshold; -} - - -dReal dBodyGetAutoDisableAngularThreshold (dBodyID b) -{ - dAASSERT(b); - return dSqrt (b->adis.angular_average_threshold); -} - - -void dBodySetAutoDisableAngularThreshold (dBodyID b, dReal angular_average_threshold) -{ - dAASSERT(b); - b->adis.angular_average_threshold = angular_average_threshold * angular_average_threshold; -} - - -int dBodyGetAutoDisableAverageSamplesCount (dBodyID b) -{ - dAASSERT(b); - return b->adis.average_samples; -} - - -void dBodySetAutoDisableAverageSamplesCount (dBodyID b, unsigned int average_samples_count) -{ - dAASSERT(b); - b->adis.average_samples = average_samples_count; - // update the average buffers - if(b->average_lvel_buffer) - { - delete[] b->average_lvel_buffer; - b->average_lvel_buffer = 0; - } - if(b->average_avel_buffer) - { - delete[] b->average_avel_buffer; - b->average_avel_buffer = 0; - } - if(b->adis.average_samples > 0) - { - b->average_lvel_buffer = new dVector3[b->adis.average_samples]; - b->average_avel_buffer = new dVector3[b->adis.average_samples]; - } - else - { - b->average_lvel_buffer = 0; - b->average_avel_buffer = 0; - } - // new buffer is empty - b->average_counter = 0; - b->average_ready = 0; -} - - -int dBodyGetAutoDisableSteps (dBodyID b) -{ - dAASSERT(b); - return b->adis.idle_steps; -} - - -void dBodySetAutoDisableSteps (dBodyID b, int steps) -{ - dAASSERT(b); - b->adis.idle_steps = steps; -} - - -dReal dBodyGetAutoDisableTime (dBodyID b) -{ - dAASSERT(b); - return b->adis.idle_time; -} - - -void dBodySetAutoDisableTime (dBodyID b, dReal time) -{ - dAASSERT(b); - b->adis.idle_time = time; -} - - -int dBodyGetAutoDisableFlag (dBodyID b) -{ - dAASSERT(b); - return ((b->flags & dxBodyAutoDisable) != 0); -} - - -void dBodySetAutoDisableFlag (dBodyID b, int do_auto_disable) -{ - dAASSERT(b); - if (!do_auto_disable) - { - b->flags &= ~dxBodyAutoDisable; - // (mg) we should also reset the IsDisabled state to correspond to the DoDisabling flag - b->flags &= ~dxBodyDisabled; - b->adis.idle_steps = dWorldGetAutoDisableSteps(b->world); - b->adis.idle_time = dWorldGetAutoDisableTime(b->world); - // resetting the average calculations too - dBodySetAutoDisableAverageSamplesCount(b, dWorldGetAutoDisableAverageSamplesCount(b->world) ); - } - else - { - b->flags |= dxBodyAutoDisable; - } -} - - -void dBodySetAutoDisableDefaults (dBodyID b) -{ - dAASSERT(b); - dWorldID w = b->world; - dAASSERT(w); - b->adis = w->adis; - dBodySetAutoDisableFlag (b, w->adis_flag); -} - -//**************************************************************************** -// joints - -static void dJointInit (dxWorld *w, dxJoint *j) -{ - dIASSERT (w && j); - initObject (j,w); - j->vtable = 0; - j->flags = 0; - j->node[0].joint = j; - j->node[0].body = 0; - j->node[0].next = 0; - j->node[1].joint = j; - j->node[1].body = 0; - j->node[1].next = 0; - dSetZero (j->lambda,6); - addObjectToList (j,(dObject **) &w->firstjoint); - w->nj++; -} - - -static dxJoint *createJoint (dWorldID w, dJointGroupID group, - dxJoint::Vtable *vtable) -{ - dIASSERT (w && vtable); - dxJoint *j; - if (group) { - j = (dxJoint*) group->stack.alloc (vtable->size); - group->num++; - } - else j = (dxJoint*) dAlloc (vtable->size); - dJointInit (w,j); - j->vtable = vtable; - if (group) j->flags |= dJOINT_INGROUP; - if (vtable->init) vtable->init (j); - j->feedback = 0; - return j; -} - - -dxJoint * dJointCreateBall (dWorldID w, dJointGroupID group) -{ - dAASSERT (w); - return createJoint (w,group,&__dball_vtable); -} - - -dxJoint * dJointCreateHinge (dWorldID w, dJointGroupID group) -{ - dAASSERT (w); - return createJoint (w,group,&__dhinge_vtable); -} - - -dxJoint * dJointCreateSlider (dWorldID w, dJointGroupID group) -{ - dAASSERT (w); - return createJoint (w,group,&__dslider_vtable); -} - - -dxJoint * dJointCreateContact (dWorldID w, dJointGroupID group, - const dContact *c) -{ - dAASSERT (w && c); - dxJointContact *j = (dxJointContact *) - createJoint (w,group,&__dcontact_vtable); - j->contact = *c; - return j; -} - - -dxJoint * dJointCreateHinge2 (dWorldID w, dJointGroupID group) -{ - dAASSERT (w); - return createJoint (w,group,&__dhinge2_vtable); -} - - -dxJoint * dJointCreateUniversal (dWorldID w, dJointGroupID group) -{ - dAASSERT (w); - return createJoint (w,group,&__duniversal_vtable); -} - -dxJoint * dJointCreatePR (dWorldID w, dJointGroupID group) -{ - dAASSERT (w); - return createJoint (w,group,&__dPR_vtable); -} - -dxJoint * dJointCreateFixed (dWorldID w, dJointGroupID group) -{ - dAASSERT (w); - return createJoint (w,group,&__dfixed_vtable); -} - - -dxJoint * dJointCreateNull (dWorldID w, dJointGroupID group) -{ - dAASSERT (w); - return createJoint (w,group,&__dnull_vtable); -} - - -dxJoint * dJointCreateAMotor (dWorldID w, dJointGroupID group) -{ - dAASSERT (w); - return createJoint (w,group,&__damotor_vtable); -} - -dxJoint * dJointCreateLMotor (dWorldID w, dJointGroupID group) -{ - dAASSERT (w); - return createJoint (w,group,&__dlmotor_vtable); -} - -dxJoint * dJointCreatePlane2D (dWorldID w, dJointGroupID group) -{ - dAASSERT (w); - return createJoint (w,group,&__dplane2d_vtable); -} - -void dJointDestroy (dxJoint *j) -{ - dAASSERT (j); - if (j->flags & dJOINT_INGROUP) return; - removeJointReferencesFromAttachedBodies (j); - removeObjectFromList (j); - j->world->nj--; - dFree (j,j->vtable->size); -} - - -dJointGroupID dJointGroupCreate (int max_size) -{ - // not any more ... dUASSERT (max_size > 0,"max size must be > 0"); - dxJointGroup *group = new dxJointGroup; - group->num = 0; - return group; -} - - -void dJointGroupDestroy (dJointGroupID group) -{ - dAASSERT (group); - dJointGroupEmpty (group); - delete group; -} - - -void dJointGroupEmpty (dJointGroupID group) -{ - // the joints in this group are detached starting from the most recently - // added (at the top of the stack). this helps ensure that the various - // linked lists are not traversed too much, as the joints will hopefully - // be at the start of those lists. - // if any group joints have their world pointer set to 0, their world was - // previously destroyed. no special handling is required for these joints. - - dAASSERT (group); - int i; - dxJoint **jlist = (dxJoint**) ALLOCA (group->num * sizeof(dxJoint*)); - dxJoint *j = (dxJoint*) group->stack.rewind(); - for (i=0; i < group->num; i++) { - jlist[i] = j; - j = (dxJoint*) (group->stack.next (j->vtable->size)); - } - for (i=group->num-1; i >= 0; i--) { - if (jlist[i]->world) { - removeJointReferencesFromAttachedBodies (jlist[i]); - removeObjectFromList (jlist[i]); - jlist[i]->world->nj--; - } - } - group->num = 0; - group->stack.freeAll(); -} - - -void dJointAttach (dxJoint *joint, dxBody *body1, dxBody *body2) -{ - // check arguments - dUASSERT (joint,"bad joint argument"); - dUASSERT (body1 == 0 || body1 != body2,"can't have body1==body2"); - dxWorld *world = joint->world; - dUASSERT ( (!body1 || body1->world == world) && - (!body2 || body2->world == world), - "joint and bodies must be in same world"); - - // check if the joint can not be attached to just one body - dUASSERT (!((joint->flags & dJOINT_TWOBODIES) && - ((body1 != 0) ^ (body2 != 0))), - "joint can not be attached to just one body"); - - // remove any existing body attachments - if (joint->node[0].body || joint->node[1].body) { - removeJointReferencesFromAttachedBodies (joint); - } - - // if a body is zero, make sure that it is body2, so 0 --> node[1].body - if (body1==0) { - body1 = body2; - body2 = 0; - joint->flags |= dJOINT_REVERSE; - } - else { - joint->flags &= (~dJOINT_REVERSE); - } - - // attach to new bodies - joint->node[0].body = body1; - joint->node[1].body = body2; - if (body1) { - joint->node[1].next = body1->firstjoint; - body1->firstjoint = &joint->node[1]; - } - else joint->node[1].next = 0; - if (body2) { - joint->node[0].next = body2->firstjoint; - body2->firstjoint = &joint->node[0]; - } - else { - joint->node[0].next = 0; - } -} - - -void dJointSetData (dxJoint *joint, void *data) -{ - dAASSERT (joint); - joint->userdata = data; -} - - -void *dJointGetData (dxJoint *joint) -{ - dAASSERT (joint); - return joint->userdata; -} - - -int dJointGetType (dxJoint *joint) -{ - dAASSERT (joint); - return joint->vtable->typenum; -} - - -dBodyID dJointGetBody (dxJoint *joint, int index) -{ - dAASSERT (joint); - if (index == 0 || index == 1) { - if (joint->flags & dJOINT_REVERSE) return joint->node[1-index].body; - else return joint->node[index].body; - } - else return 0; -} - - -void dJointSetFeedback (dxJoint *joint, dJointFeedback *f) -{ - dAASSERT (joint); - joint->feedback = f; -} - - -dJointFeedback *dJointGetFeedback (dxJoint *joint) -{ - dAASSERT (joint); - return joint->feedback; -} - - - -dJointID dConnectingJoint (dBodyID in_b1, dBodyID in_b2) -{ - dAASSERT (in_b1 || in_b2); - - dBodyID b1, b2; - - if (in_b1 == 0) { - b1 = in_b2; - b2 = in_b1; - } - else { - b1 = in_b1; - b2 = in_b2; - } - - // look through b1's neighbour list for b2 - for (dxJointNode *n=b1->firstjoint; n; n=n->next) { - if (n->body == b2) return n->joint; - } - - return 0; -} - - - -int dConnectingJointList (dBodyID in_b1, dBodyID in_b2, dJointID* out_list) -{ - dAASSERT (in_b1 || in_b2); - - - dBodyID b1, b2; - - if (in_b1 == 0) { - b1 = in_b2; - b2 = in_b1; - } - else { - b1 = in_b1; - b2 = in_b2; - } - - // look through b1's neighbour list for b2 - int numConnectingJoints = 0; - for (dxJointNode *n=b1->firstjoint; n; n=n->next) { - if (n->body == b2) - out_list[numConnectingJoints++] = n->joint; - } - - return numConnectingJoints; -} - - -int dAreConnected (dBodyID b1, dBodyID b2) -{ - dAASSERT (b1 && b2); - // look through b1's neighbour list for b2 - for (dxJointNode *n=b1->firstjoint; n; n=n->next) { - if (n->body == b2) return 1; - } - return 0; -} - - -int dAreConnectedExcluding (dBodyID b1, dBodyID b2, int joint_type) -{ - dAASSERT (b1 && b2); - // look through b1's neighbour list for b2 - for (dxJointNode *n=b1->firstjoint; n; n=n->next) { - if (dJointGetType (n->joint) != joint_type && n->body == b2) return 1; - } - return 0; -} - -//**************************************************************************** -// world - -dxWorld * dWorldCreate() -{ - dxWorld *w = new dxWorld; - w->firstbody = 0; - w->firstjoint = 0; - w->nb = 0; - w->nj = 0; - dSetZero (w->gravity,4); - w->global_erp = REAL(0.2); -#if defined(dSINGLE) - w->global_cfm = 1e-5f; -#elif defined(dDOUBLE) - w->global_cfm = 1e-10; -#else - #error dSINGLE or dDOUBLE must be defined -#endif - - w->adis.idle_steps = 10; - w->adis.idle_time = 0; - w->adis_flag = 0; - w->adis.average_samples = 1; // Default is 1 sample => Instantaneous velocity - w->adis.angular_average_threshold = REAL(0.01)*REAL(0.01); // (magnitude squared) - w->adis.linear_average_threshold = REAL(0.01)*REAL(0.01); // (magnitude squared) - - w->qs.num_iterations = 20; - w->qs.w = REAL(1.3); - - w->contactp.max_vel = dInfinity; - w->contactp.min_depth = 0; - - return w; -} - - -void dWorldDestroy (dxWorld *w) -{ - // delete all bodies and joints - dAASSERT (w); - dxBody *nextb, *b = w->firstbody; - while (b) { - nextb = (dxBody*) b->next; - if(b->average_lvel_buffer) - { - delete[] (b->average_lvel_buffer); - b->average_lvel_buffer = 0; - } - if(b->average_avel_buffer) - { - delete[] (b->average_avel_buffer); - b->average_avel_buffer = 0; - } - dBodyDestroy(b); // calling here dBodyDestroy for correct destroying! (i.e. the average buffers) - b = nextb; - } - dxJoint *nextj, *j = w->firstjoint; - while (j) { - nextj = (dxJoint*)j->next; - if (j->flags & dJOINT_INGROUP) { - // the joint is part of a group, so "deactivate" it instead - j->world = 0; - j->node[0].body = 0; - j->node[0].next = 0; - j->node[1].body = 0; - j->node[1].next = 0; - dMessage (0,"warning: destroying world containing grouped joints"); - } - else { - dFree (j,j->vtable->size); - } - j = nextj; - } - delete w; -} - - -void dWorldSetGravity (dWorldID w, dReal x, dReal y, dReal z) -{ - dAASSERT (w); - w->gravity[0] = x; - w->gravity[1] = y; - w->gravity[2] = z; -} - - -void dWorldGetGravity (dWorldID w, dVector3 g) -{ - dAASSERT (w); - g[0] = w->gravity[0]; - g[1] = w->gravity[1]; - g[2] = w->gravity[2]; -} - - -void dWorldSetERP (dWorldID w, dReal erp) -{ - dAASSERT (w); - w->global_erp = erp; -} - - -dReal dWorldGetERP (dWorldID w) -{ - dAASSERT (w); - return w->global_erp; -} - - -void dWorldSetCFM (dWorldID w, dReal cfm) -{ - dAASSERT (w); - w->global_cfm = cfm; -} - - -dReal dWorldGetCFM (dWorldID w) -{ - dAASSERT (w); - return w->global_cfm; -} - - -void dWorldStep (dWorldID w, dReal stepsize) -{ - dUASSERT (w,"bad world argument"); - dUASSERT (stepsize > 0,"stepsize must be > 0"); - dxProcessIslands (w,stepsize,&dInternalStepIsland); -} - - -void dWorldQuickStep (dWorldID w, dReal stepsize) -{ - dUASSERT (w,"bad world argument"); - dUASSERT (stepsize > 0,"stepsize must be > 0"); - dxProcessIslands (w,stepsize,&dxQuickStepper); -} - - -void dWorldImpulseToForce (dWorldID w, dReal stepsize, - dReal ix, dReal iy, dReal iz, - dVector3 force) -{ - dAASSERT (w); - stepsize = dRecip(stepsize); - force[0] = stepsize * ix; - force[1] = stepsize * iy; - force[2] = stepsize * iz; - // @@@ force[3] = 0; -} - - -// world auto-disable functions - -dReal dWorldGetAutoDisableLinearThreshold (dWorldID w) -{ - dAASSERT(w); - return dSqrt (w->adis.linear_average_threshold); -} - - -void dWorldSetAutoDisableLinearThreshold (dWorldID w, dReal linear_average_threshold) -{ - dAASSERT(w); - w->adis.linear_average_threshold = linear_average_threshold * linear_average_threshold; -} - - -dReal dWorldGetAutoDisableAngularThreshold (dWorldID w) -{ - dAASSERT(w); - return dSqrt (w->adis.angular_average_threshold); -} - - -void dWorldSetAutoDisableAngularThreshold (dWorldID w, dReal angular_average_threshold) -{ - dAASSERT(w); - w->adis.angular_average_threshold = angular_average_threshold * angular_average_threshold; -} - - -int dWorldGetAutoDisableAverageSamplesCount (dWorldID w) -{ - dAASSERT(w); - return w->adis.average_samples; -} - - -void dWorldSetAutoDisableAverageSamplesCount (dWorldID w, unsigned int average_samples_count) -{ - dAASSERT(w); - w->adis.average_samples = average_samples_count; -} - - -int dWorldGetAutoDisableSteps (dWorldID w) -{ - dAASSERT(w); - return w->adis.idle_steps; -} - - -void dWorldSetAutoDisableSteps (dWorldID w, int steps) -{ - dAASSERT(w); - w->adis.idle_steps = steps; -} - - -dReal dWorldGetAutoDisableTime (dWorldID w) -{ - dAASSERT(w); - return w->adis.idle_time; -} - - -void dWorldSetAutoDisableTime (dWorldID w, dReal time) -{ - dAASSERT(w); - w->adis.idle_time = time; -} - - -int dWorldGetAutoDisableFlag (dWorldID w) -{ - dAASSERT(w); - return w->adis_flag; -} - - -void dWorldSetAutoDisableFlag (dWorldID w, int do_auto_disable) -{ - dAASSERT(w); - w->adis_flag = (do_auto_disable != 0); -} - - -void dWorldSetQuickStepNumIterations (dWorldID w, int num) -{ - dAASSERT(w); - w->qs.num_iterations = num; -} - - -int dWorldGetQuickStepNumIterations (dWorldID w) -{ - dAASSERT(w); - return w->qs.num_iterations; -} - - -void dWorldSetQuickStepW (dWorldID w, dReal param) -{ - dAASSERT(w); - w->qs.w = param; -} - - -dReal dWorldGetQuickStepW (dWorldID w) -{ - dAASSERT(w); - return w->qs.w; -} - - -void dWorldSetContactMaxCorrectingVel (dWorldID w, dReal vel) -{ - dAASSERT(w); - w->contactp.max_vel = vel; -} - - -dReal dWorldGetContactMaxCorrectingVel (dWorldID w) -{ - dAASSERT(w); - return w->contactp.max_vel; -} - - -void dWorldSetContactSurfaceLayer (dWorldID w, dReal depth) -{ - dAASSERT(w); - w->contactp.min_depth = depth; -} - - -dReal dWorldGetContactSurfaceLayer (dWorldID w) -{ - dAASSERT(w); - return w->contactp.min_depth; -} - -//**************************************************************************** -// testing - -#define NUM 100 - -#define DO(x) - - -extern "C" void dTestDataStructures() -{ - int i; - DO(printf ("testDynamicsStuff()\n")); - - dBodyID body [NUM]; - int nb = 0; - dJointID joint [NUM]; - int nj = 0; - - for (i=0; i 0.5) { - DO(printf ("creating body\n")); - body[nb] = dBodyCreate (w); - DO(printf ("\t--> %p\n",body[nb])); - nb++; - checkWorld (w); - DO(printf ("%d BODIES, %d JOINTS\n",nb,nj)); - } - if (nj < NUM && nb > 2 && dRandReal() > 0.5) { - dBodyID b1 = body [dRand() % nb]; - dBodyID b2 = body [dRand() % nb]; - if (b1 != b2) { - DO(printf ("creating joint, attaching to %p,%p\n",b1,b2)); - joint[nj] = dJointCreateBall (w,0); - DO(printf ("\t-->%p\n",joint[nj])); - checkWorld (w); - dJointAttach (joint[nj],b1,b2); - nj++; - checkWorld (w); - DO(printf ("%d BODIES, %d JOINTS\n",nb,nj)); - } - } - if (nj > 0 && nb > 2 && dRandReal() > 0.5) { - dBodyID b1 = body [dRand() % nb]; - dBodyID b2 = body [dRand() % nb]; - if (b1 != b2) { - int k = dRand() % nj; - DO(printf ("reattaching joint %p\n",joint[k])); - dJointAttach (joint[k],b1,b2); - checkWorld (w); - DO(printf ("%d BODIES, %d JOINTS\n",nb,nj)); - } - } - if (nb > 0 && dRandReal() > 0.5) { - int k = dRand() % nb; - DO(printf ("destroying body %p\n",body[k])); - dBodyDestroy (body[k]); - checkWorld (w); - for (; k < (NUM-1); k++) body[k] = body[k+1]; - nb--; - DO(printf ("%d BODIES, %d JOINTS\n",nb,nj)); - } - if (nj > 0 && dRandReal() > 0.5) { - int k = dRand() % nj; - DO(printf ("destroying joint %p\n",joint[k])); - dJointDestroy (joint[k]); - checkWorld (w); - for (; k < (NUM-1); k++) joint[k] = joint[k+1]; - nj--; - DO(printf ("%d BODIES, %d JOINTS\n",nb,nj)); - } - } - - /* - printf ("creating world\n"); - dWorldID w = dWorldCreate(); - checkWorld (w); - printf ("creating body\n"); - dBodyID b1 = dBodyCreate (w); - checkWorld (w); - printf ("creating body\n"); - dBodyID b2 = dBodyCreate (w); - checkWorld (w); - printf ("creating joint\n"); - dJointID j = dJointCreateBall (w); - checkWorld (w); - printf ("attaching joint\n"); - dJointAttach (j,b1,b2); - checkWorld (w); - printf ("destroying joint\n"); - dJointDestroy (j); - checkWorld (w); - printf ("destroying body\n"); - dBodyDestroy (b1); - checkWorld (w); - printf ("destroying body\n"); - dBodyDestroy (b2); - checkWorld (w); - printf ("destroying world\n"); - dWorldDestroy (w); - */ -} -- cgit v1.1