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/*************************************************************************
* *
* 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 <ode/common.h>
#include <ode/memory.h>
#include <ode/mass.h>
#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
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