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engines/hpl1/engine/impl/PhysicsJointScrewNewton.cpp

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+/* 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/PhysicsJointScrewNewton.h"
+
+#include "hpl1/engine/impl/PhysicsBodyNewton.h"
+#include "hpl1/engine/impl/PhysicsWorldNewton.h"
+#include "hpl1/engine/math/Vector3.h"
+
+namespace hpl {
+
+//////////////////////////////////////////////////////////////////////////
+// CONSTRUCTORS
+//////////////////////////////////////////////////////////////////////////
+
+//-----------------------------------------------------------------------
+
+cPhysicsJointScrewNewton::cPhysicsJointScrewNewton(const tString &asName,
+												   iPhysicsBody *apParentBody, iPhysicsBody *apChildBody,
+												   iPhysicsWorld *apWorld, const cVector3f &avPivotPoint, const cVector3f avPinDir)
+	: iPhysicsJointNewton<iPhysicsJointScrew>(asName, apParentBody, apChildBody, apWorld, avPivotPoint) {
+	mvPin = avPinDir;
+	mvPin.Normalise();
+
+	VEC3_CONST_ARRAY(pvPoint, avPivotPoint);
+	VEC3_CONST_ARRAY(pDir, avPinDir);
+	mpNewtonJoint = NewtonConstraintCreateCorkscrew(mpNewtonWorld, pvPoint, pDir, mpNewtonChildBody,
+													mpNewtonParentBody);
+
+	NewtonJointSetUserData(mpNewtonJoint, (void *)this);
+	NewtonCorkscrewSetUserCallback(mpNewtonJoint, LimitCallback);
+
+	mfMaxDistance = 0;
+	mfMinDistance = 0;
+
+	mvPinDir = avPinDir;
+	mvPivotPoint = avPivotPoint;
+}
+
+//-----------------------------------------------------------------------
+
+cPhysicsJointScrewNewton::~cPhysicsJointScrewNewton() {
+}
+
+//-----------------------------------------------------------------------
+
+//////////////////////////////////////////////////////////////////////////
+// PUBLIC METHODS
+//////////////////////////////////////////////////////////////////////////
+
+//-----------------------------------------------------------------------
+
+void cPhysicsJointScrewNewton::SetMaxDistance(float afX) {
+	mfMaxDistance = afX;
+}
+void cPhysicsJointScrewNewton::SetMinDistance(float afX) {
+	mfMinDistance = afX;
+}
+float cPhysicsJointScrewNewton::GetMaxDistance() {
+	return mfMaxDistance;
+}
+float cPhysicsJointScrewNewton::GetMinDistance() {
+	return mfMinDistance;
+}
+
+//-----------------------------------------------------------------------
+
+cVector3f cPhysicsJointScrewNewton::GetVelocity() {
+	float fSpeed = NewtonCorkscrewGetJointVeloc(mpNewtonJoint);
+	return mvPin * fSpeed;
+}
+cVector3f cPhysicsJointScrewNewton::GetAngularVelocity() {
+	return cVector3f(0, 0, 0);
+}
+cVector3f cPhysicsJointScrewNewton::GetForce() {
+	cVector3f vForce;
+	NewtonCorkscrewGetJointForce(mpNewtonJoint, &vForce.x);
+	return vForce;
+}
+//-----------------------------------------------------------------------
+
+float cPhysicsJointScrewNewton::GetDistance() {
+	return NewtonCorkscrewGetJointPosit(mpNewtonJoint);
+}
+float cPhysicsJointScrewNewton::GetAngle() {
+	return NewtonCorkscrewGetJointAngle(mpNewtonJoint);
+}
+
+//-----------------------------------------------------------------------
+
+//////////////////////////////////////////////////////////////////////////
+// STATIC CALLBACKS
+//////////////////////////////////////////////////////////////////////////
+
+//-----------------------------------------------------------------------
+
+unsigned cPhysicsJointScrewNewton::LimitCallback(const NewtonJoint *pScrew, NewtonHingeSliderUpdateDesc *pDesc) {
+	cPhysicsJointScrewNewton *pScrewJoint = (cPhysicsJointScrewNewton *)NewtonJointGetUserData(pScrew);
+
+	// pScrewJoint->OnPhysicsUpdate();
+
+	float fDistance = NewtonCorkscrewGetJointPosit(pScrew);
+	// Log("Dist: %f\n",fDistance);
+
+	if (pScrewJoint->mfMinDistance == 0 && pScrewJoint->mfMaxDistance == 0)
+		return 0;
+
+	// Avoid oscillation
+	CheckLimitAutoSleep(pScrewJoint, pScrewJoint->mfMinDistance, pScrewJoint->mfMaxDistance, fDistance);
+
+	if (fDistance < pScrewJoint->mfMinDistance) {
+		pScrewJoint->OnMinLimit();
+
+		pDesc->m_accel = NewtonCorkscrewCalculateStopAccel(pScrew, pDesc, pScrewJoint->mfMinDistance);
+		pDesc->m_minFriction = 0;
+		return 1;
+	} else if (fDistance > pScrewJoint->mfMaxDistance) {
+		pScrewJoint->OnMaxLimit();
+
+		pDesc->m_accel = NewtonCorkscrewCalculateStopAccel(pScrew, pDesc, pScrewJoint->mfMaxDistance);
+		pDesc->m_maxFriction = 0;
+		return 1;
+	} else {
+		if (pScrewJoint->mpParentBody == NULL || pScrewJoint->mpParentBody->GetMass() == 0) {
+			if ((pScrewJoint->mfStickyMaxDistance != 0 &&
+				 fabs(fDistance - pScrewJoint->mfMaxDistance) < pScrewJoint->mfStickyMaxDistance) ||
+				(pScrewJoint->mfStickyMinDistance != 0 &&
+				 fabs(fDistance - pScrewJoint->mfMinDistance) < pScrewJoint->mfStickyMinDistance)) {
+				pScrewJoint->mpChildBody->SetAngularVelocity(0);
+				pScrewJoint->mpChildBody->SetLinearVelocity(0);
+			}
+		}
+
+		pScrewJoint->OnNoLimit();
+	}
+
+	return 0;
+}
+//-----------------------------------------------------------------------
+
+} // namespace hpl