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engines/hpl1/engine/libraries/newton/NewtonClass.h

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+/* Copyright (c) <2003-2011> <Julio Jerez, Newton Game Dynamics>
+*
+* This software is provided 'as-is', without any express or implied
+* warranty. In no event will the authors be held liable for any damages
+* arising from the use of this software.
+*
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+*
+* 1. The origin of this software must not be misrepresented; you must not
+* claim that you wrote the original software. If you use this software
+* in a product, an acknowledgment in the product documentation would be
+* appreciated but is not required.
+*
+* 2. Altered source versions must be plainly marked as such, and must not be
+* misrepresented as being the original software.
+*
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef __NewotnClass_3HL6356GYL459020__
+#define __NewotnClass_3HL6356GYL459020__
+
+#include "NewtonStdAfx.h"
+#include "Newton.h"
+
+
+
+#define MAX_TIMESTEP (1.0f / 60.0f)
+#define MIN_TIMESTEP (1.0f / 1000.0f)
+
+class Newton;
+
+
+class NewtonDeadBodies: public dgTree<dgBody *, void * > {
+public:
+	NewtonDeadBodies(dgMemoryAllocator *const allocator);
+	void DestroyBodies(Newton &world);
+};
+
+
+class NewtonDeadJoints: public dgTree<dgConstraint *, void *> {
+public:
+	NewtonDeadJoints(dgMemoryAllocator *const allocator);
+	void DestroyJoints(Newton &world);
+};
+
+
+class Newton:
+	public dgWorld,
+	public NewtonDeadBodies,
+	public NewtonDeadJoints {
+public:
+	DG_CLASS_ALLOCATOR(allocator)
+
+	Newton(dgFloat32 scale, dgMemoryAllocator *const allocator);
+	~Newton();
+
+	void DestroyBody(dgBody *body);
+	void DestroyJoint(dgConstraint *joint);
+
+	void UpdatePhysics(dgFloat32 timestep);
+	static void *DefaultAllocMemory(dgInt32 size);
+	static void DefaultFreeMemory(void *ptr, dgInt32 size);
+
+	dgFloat32 g_maxTimeStep;
+	bool m_updating;
+
+	NewtonDestroyWorld m_destructor;
+
+};
+
+
+
+class NewtonUserJoint: public dgUserConstraint {
+public:
+	NewtonUserJoint(dgWorld *world, dgInt32 maxDof,
+	                NewtonUserBilateralCallBack callback, NewtonUserBilateralGetInfoCallBack getInfo,
+	                dgBody *dyn0, dgBody *dyn1);
+	~NewtonUserJoint();
+
+	dgUnsigned32 JacobianDerivative(dgContraintDescritor &params);
+
+	void AddAngularRowJacobian(const dgVector &dir, dgFloat32 relAngle);
+	void AddGeneralRowJacobian(const dgFloat32 *jacobian0, const dgFloat32 *jacobian1);
+	void AddLinearRowJacobian(const dgVector &pivot0, const dgVector &pivot1, const dgVector &dir);
+
+	dgFloat32 GetRowForce(dgInt32 row) const;
+	void SetHighFriction(dgFloat32 friction);
+	void SetLowerFriction(dgFloat32 friction);
+	void SetRowStiffness(dgFloat32 stiffness);
+	void SetAcceleration(dgFloat32 acceleration);
+	void SetSpringDamperAcceleration(dgFloat32 springK, dgFloat32 springD);
+	void GetInfo(dgConstraintInfo *const info) const;
+
+	void SetUpdateFeedbackFunction(NewtonUserBilateralCallBack getFeedback);
+
+
+
+private:
+	NewtonUserBilateralCallBack m_jacobianFnt;
+	NewtonUserBilateralGetInfoCallBack m_getInfoCallback;
+
+	dgInt32 m_rows;
+	dgFloat32 *m_forceArray;
+	dgContraintDescritor *m_param;
+
+	dgFloat32 m_lastJointAngle;
+	dgVector m_lastPosit0;
+	dgVector m_lastPosit1;
+};
+
+
+
+#endif