Initial commit

engines/hpl1/engine/impl/PhysicsJointHingeNewton.cpp

@@ -0,0 +1,181 @@
+/* ScummVM - Graphic Adventure Engine
+ *
+ * ScummVM is the legal property of its developers, whose names
+ * are too numerous to list here. Please refer to the COPYRIGHT
+ * file distributed with this source distribution.
+ *
+ * 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 3 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, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/*
+ * Copyright (C) 2006-2010 - Frictional Games
+ *
+ * This file is part of HPL1 Engine.
+ */
+
+#include "hpl1/engine/impl/PhysicsJointHingeNewton.h"
+
+#include "hpl1/engine/system/low_level_system.h"
+
+#include "hpl1/engine/impl/PhysicsBodyNewton.h"
+#include "hpl1/engine/impl/PhysicsWorldNewton.h"
+
+#include "hpl1/engine/math/Math.h"
+
+namespace hpl {
+
+//////////////////////////////////////////////////////////////////////////
+// CONSTRUCTORS
+//////////////////////////////////////////////////////////////////////////
+
+//-----------------------------------------------------------------------
+
+cPhysicsJointHingeNewton::cPhysicsJointHingeNewton(const tString &asName,
+												   iPhysicsBody *apParentBody, iPhysicsBody *apChildBody,
+												   iPhysicsWorld *apWorld, const cVector3f &avPivotPoint, const cVector3f avPinDir)
+	: iPhysicsJointNewton<iPhysicsJointHinge>(asName, apParentBody, apChildBody, apWorld, avPivotPoint) {
+	const float fPivotPoint[3] = {avPivotPoint.x, avPivotPoint.y, avPivotPoint.z};
+	const float fPinDir[3] = {avPinDir.x, avPinDir.y, avPinDir.z};
+	mpNewtonJoint = NewtonConstraintCreateHinge(mpNewtonWorld, fPivotPoint, fPinDir,
+												mpNewtonChildBody, mpNewtonParentBody);
+
+	// Add callback and user data.
+	NewtonJointSetUserData(mpNewtonJoint, (void *)this);
+	NewtonHingeSetUserCallback(mpNewtonJoint, LimitCallback);
+
+	mvPinDir = avPinDir;
+	mvPivotPoint = avPivotPoint;
+
+	mfMaxAngle = 0;
+	mfMinAngle = 0;
+
+	mfPreviousAngle = 0;
+}
+
+//-----------------------------------------------------------------------
+
+cPhysicsJointHingeNewton::~cPhysicsJointHingeNewton() {
+}
+
+//-----------------------------------------------------------------------
+
+//////////////////////////////////////////////////////////////////////////
+// PUBLIC METHODS
+//////////////////////////////////////////////////////////////////////////
+
+//-----------------------------------------------------------------------
+
+void cPhysicsJointHingeNewton::SetMaxAngle(float afAngle) {
+	mfMaxAngle = afAngle;
+}
+void cPhysicsJointHingeNewton::SetMinAngle(float afAngle) {
+	mfMinAngle = afAngle;
+}
+float cPhysicsJointHingeNewton::GetMaxAngle() {
+	return mfMaxAngle;
+}
+float cPhysicsJointHingeNewton::GetMinAngle() {
+	return mfMinAngle;
+}
+
+//-----------------------------------------------------------------------
+
+cVector3f cPhysicsJointHingeNewton::GetVelocity() {
+	return cVector3f(0, 0, 0);
+}
+cVector3f cPhysicsJointHingeNewton::GetAngularVelocity() {
+	float fSpeed = NewtonHingeGetJointOmega(mpNewtonJoint);
+	return mvPinDir * fSpeed;
+}
+cVector3f cPhysicsJointHingeNewton::GetForce() {
+	cVector3f vForce;
+	NewtonHingeGetJointForce(mpNewtonJoint, &vForce.x);
+	return vForce;
+}
+
+//-----------------------------------------------------------------------
+
+float cPhysicsJointHingeNewton::GetDistance() {
+	return 0;
+}
+float cPhysicsJointHingeNewton::GetAngle() {
+	return NewtonHingeGetJointAngle(mpNewtonJoint);
+}
+
+//-----------------------------------------------------------------------
+
+//////////////////////////////////////////////////////////////////////////
+// STATIC CALLBACKS
+//////////////////////////////////////////////////////////////////////////
+
+//-----------------------------------------------------------------------
+
+unsigned cPhysicsJointHingeNewton::LimitCallback(const NewtonJoint *pHinge, NewtonHingeSliderUpdateDesc *pDesc) {
+	cPhysicsJointHingeNewton *pHingeJoint = (cPhysicsJointHingeNewton *)NewtonJointGetUserData(pHinge);
+
+	// pHingeJoint->OnPhysicsUpdate();
+
+	if (pHingeJoint->mfMaxAngle == 0 && pHingeJoint->mfMinAngle == 0)
+		return 0;
+
+	float fAngle = NewtonHingeGetJointAngle(pHinge);
+
+	// Avoid oscillation
+	CheckLimitAutoSleep(pHingeJoint, pHingeJoint->mfMinAngle, pHingeJoint->mfMaxAngle, fAngle);
+
+	bool bSkipLimitCheck = false;
+	if (fabs(pHingeJoint->mfPreviousAngle - fAngle) > cMath::ToRad(300))
+		bSkipLimitCheck = true;
+
+	// Max limit
+	if (fAngle > pHingeJoint->mfMaxAngle && bSkipLimitCheck == false) {
+		pHingeJoint->OnMaxLimit();
+
+		pDesc->m_accel = NewtonHingeCalculateStopAlpha(pHinge, pDesc, pHingeJoint->mfMaxAngle);
+		pDesc->m_maxFriction = 0;
+
+		pHingeJoint->mfPreviousAngle = fAngle;
+		return 1;
+	}
+	// Min limit
+	else if (fAngle < pHingeJoint->mfMinAngle && bSkipLimitCheck == false) {
+		pHingeJoint->OnMinLimit();
+
+		pDesc->m_accel = NewtonHingeCalculateStopAlpha(pHinge, pDesc, pHingeJoint->mfMinAngle);
+		pDesc->m_minFriction = 0;
+
+		pHingeJoint->mfPreviousAngle = fAngle;
+		return 1;
+	} else {
+		if (pHingeJoint->mpParentBody == NULL || pHingeJoint->mpParentBody->GetMass() == 0) {
+			if ((pHingeJoint->mfStickyMaxDistance != 0 &&
+				 fabs(fAngle - pHingeJoint->mfMaxAngle) < pHingeJoint->mfStickyMaxDistance) ||
+				(pHingeJoint->mfStickyMinDistance != 0 &&
+				 fabs(fAngle - pHingeJoint->mfMinAngle) < pHingeJoint->mfStickyMinDistance)) {
+				pHingeJoint->mpChildBody->SetAngularVelocity(0);
+				pHingeJoint->mpChildBody->SetLinearVelocity(0);
+			}
+		}
+
+		pHingeJoint->OnNoLimit();
+	}
+
+	pHingeJoint->mfPreviousAngle = fAngle;
+	return 0;
+}
+
+//-----------------------------------------------------------------------
+
+} // namespace hpl