Initial commit

engines/hpl1/engine/libraries/newton/physics/dgUniversalConstraint.h

@@ -0,0 +1,73 @@
+/* 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.
+*/
+
+#if !defined(AFX_DGUNIVERSALCONSTRAINT_H__3FA456TR_INCLUDED)
+#define AFX_DGUNIVERSALCONSTRAINT_H__3FA456TR_INCLUDED
+#include "dgBilateralConstraint.h"
+
+//template<class T> class dgPool;
+
+class dgUniversalConstraint;
+
+typedef dgUnsigned32(dgApi *dgUniversalJointAcceleration)(const NewtonJoint *const universal, NewtonHingeSliderUpdateDesc *const desc);
+
+class dgUniversalConstraint: public dgBilateralConstraint {
+public:
+	dgFloat32 GetJointAngle0() const;
+	dgFloat32 GetJointAngle1() const;
+	dgFloat32 GetJointOmega0() const;
+	dgFloat32 GetJointOmega1() const;
+
+	dgVector GetJointForce() const;
+	dgFloat32 CalculateStopAlpha0(dgFloat32 angle, const dgJointCallBackParam *param) const;
+	dgFloat32 CalculateStopAlpha1(dgFloat32 angle, const dgJointCallBackParam *param) const;
+	void SetJointParameterCallBack(dgUniversalJointAcceleration callback);
+
+private:
+	virtual dgUnsigned32 JacobianDerivative(dgContraintDescritor &params);
+//	virtual void Remove(dgWorld* world);
+
+
+	dgUniversalConstraint();
+	virtual ~dgUniversalConstraint();
+//	static dgUniversalConstraint* Create(dgWorld* world);
+
+	dgFloat32 m_angle0;
+	dgFloat32 m_angle1;
+	dgUniversalJointAcceleration m_jointAccelFnt;
+
+//#ifdef __USE_DOUBLE_PRECISION__
+//	dgUnsigned32 m_reserve[3];
+//#else
+//	dgUnsigned32 m_reserve[1];
+//#endif
+
+
+	friend class dgWorld;
+//	friend class dgPool<dgUniversalConstraint>;
+};
+
+//class dgUniversalConstraintArray: public dgPoolContainer<dgUniversalConstraint>
+//{
+//};
+
+#endif // !defined(AFX_DGUNIVERSALCONSTRAINT_H__3FA456TR_INCLUDED)
+