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horror/thirdparty/ode-0.16.5/ode/src/ode.cpp
Kirill Yurkin d54c9805b3 first commit
2024-06-10 12:48:14 +03:00

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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. *
* *
*************************************************************************/
#ifdef _MSC_VER
#pragma warning(disable:4291) // for VC++, no complaints about "no matching operator delete found"
#endif
// this source file is mostly concerned with the data structures, not the
// numerics.
#include <ode/ode.h>
#include <ode/memory.h>
#include <ode/error.h>
#include "config.h"
#include "matrix.h"
#include "odemath.h"
#include "objects.h"
#include "joints/joints.h"
#include "step.h"
#include "quickstep.h"
#include "util.h"
#include "odetls.h"
// misc defines
#define ALLOCA dALLOCA16
//****************************************************************************
// utility
// add an object `obj' to the list who's head pointer is pointed to by `first'.
void addObjectToList (dObject *obj, dObject **first)
{
obj->next = *first;
obj->tome = first;
if (*first) (*first)->tome = &obj->next;
(*first) = obj;
}
// remove the object from the linked list
static inline void removeObjectFromList (dObject *obj)
{
if (obj->next) obj->next->tome = obj->tome;
*(obj->tome) = obj->next;
// safeguard
obj->next = NULL;
obj->tome = NULL;
}
// remove the joint from neighbour lists of all connected bodies
static void removeJointReferencesFromAttachedBodies (dxJoint *j)
{
for (int i=0; i<2; i++) {
dxBody *body = j->node[i].body;
if (body) {
dxJointNode *n = body->firstjoint;
dxJointNode *last = NULL;
while (n) {
if (n->joint == j) {
if (last) last->next = n->next;
else body->firstjoint = n->next;
break;
}
last = n;
n = n->next;
}
}
}
j->node[0].body = NULL;
j->node[0].next = NULL;
j->node[1].body = NULL;
j->node[1].next = NULL;
}
//****************************************************************************
// debugging
// see if an object list loops on itself (if so, it's bad).
static int listHasLoops (dObject *first)
{
if (first==0 || first->next==0) return 0;
dObject *a=first,*b=first->next;
int skip=0;
while (b) {
if (a==b) return 1;
b = b->next;
if (skip) a = a->next;
skip ^= 1;
}
return 0;
}
// check the validity of the world data structures
static int g_world_check_tag_generator = 0;
static inline int generateWorldCheckTag()
{
// Atomicity is not necessary here
return ++g_world_check_tag_generator;
}
static void checkWorld (dxWorld *w)
{
dxBody *b;
dxJoint *j;
// check there are no loops
if (listHasLoops (w->firstbody)) dDebug (0,"body list has loops");
if (listHasLoops (w->firstjoint)) dDebug (0,"joint list has loops");
// check lists are well formed (check `tome' pointers)
for (b=w->firstbody; b; b=(dxBody*)b->next) {
if (b->next && b->next->tome != &b->next)
dDebug (0,"bad tome pointer in body list");
}
for (j=w->firstjoint; j; j=(dxJoint*)j->next) {
if (j->next && j->next->tome != &j->next)
dDebug (0,"bad tome pointer in joint list");
}
// check counts
int n = 0;
for (b=w->firstbody; b; b=(dxBody*)b->next) n++;
if (w->nb != n) dDebug (0,"body count incorrect");
n = 0;
for (j=w->firstjoint; j; j=(dxJoint*)j->next) n++;
if (w->nj != n) dDebug (0,"joint count incorrect");
// set all tag values to a known value
int count = generateWorldCheckTag();
for (b=w->firstbody; b; b=(dxBody*)b->next) b->tag = count;
for (j=w->firstjoint; j; j=(dxJoint*)j->next) j->tag = count;
// check all body/joint world pointers are ok
for (b=w->firstbody; b; b=(dxBody*)b->next) if (b->world != w)
dDebug (0,"bad world pointer in body list");
for (j=w->firstjoint; j; j=(dxJoint*)j->next) if (j->world != w)
dDebug (0,"bad world pointer in joint list");
/*
// check for half-connected joints - actually now these are valid
for (j=w->firstjoint; j; j=(dxJoint*)j->next) {
if (j->node[0].body || j->node[1].body) {
if (!(j->node[0].body && j->node[1].body))
dDebug (0,"half connected joint found");
}
}
*/
// check that every joint node appears in the joint lists of both bodies it
// attaches
for (j=w->firstjoint; j; j=(dxJoint*)j->next) {
for (int i=0; i<2; i++) {
if (j->node[i].body) {
int ok = 0;
for (dxJointNode *n=j->node[i].body->firstjoint; n; n=n->next) {
if (n->joint == j) ok = 1;
}
if (ok==0) dDebug (0,"joint not in joint list of attached body");
}
}
}
// check all body joint lists (correct body ptrs)
for (b=w->firstbody; b; b=(dxBody*)b->next) {
for (dxJointNode *n=b->firstjoint; n; n=n->next) {
if (&n->joint->node[0] == n) {
if (n->joint->node[1].body != b)
dDebug (0,"bad body pointer in joint node of body list (1)");
}
else {
if (n->joint->node[0].body != b)
dDebug (0,"bad body pointer in joint node of body list (2)");
}
if (n->joint->tag != count) dDebug (0,"bad joint node pointer in body");
}
}
// check all body pointers in joints, check they are distinct
for (j=w->firstjoint; j; j=(dxJoint*)j->next) {
if (j->node[0].body && (j->node[0].body == j->node[1].body))
dDebug (0,"non-distinct body pointers in joint");
if ((j->node[0].body && j->node[0].body->tag != count) ||
(j->node[1].body && j->node[1].body->tag != count))
dDebug (0,"bad body pointer in joint");
}
}
void dWorldCheck (dxWorld *w)
{
checkWorld (w);
}
//****************************************************************************
// body
dxBody::dxBody(dxWorld *w) :
dObject(w)
{
}
dxWorld* dBodyGetWorld (dxBody * b)
{
dAASSERT (b);
return b->world;
}
dxBody *dBodyCreate (dxWorld *w)
{
dAASSERT (w);
dxBody *b = new dxBody(w);
b->firstjoint = NULL;
b->flags = 0;
b->geom = NULL;
b->average_lvel_buffer = NULL;
b->average_avel_buffer = NULL;
dMassSetParameters (&b->mass,1,0,0,0,1,1,1,0,0,0);
dSetZero (b->invI,4*3);
b->invI[0] = 1;
b->invI[5] = 1;
b->invI[10] = 1;
b->invMass = 1;
dSetZero (b->posr.pos,4);
dSetZero (b->q,4);
b->q[0] = 1;
dRSetIdentity (b->posr.R);
dSetZero (b->lvel,4);
dSetZero (b->avel,4);
dSetZero (b->facc,4);
dSetZero (b->tacc,4);
dSetZero (b->finite_rot_axis,4);
addObjectToList (b,(dObject **) &w->firstbody);
w->nb++;
// set auto-disable parameters
b->average_avel_buffer = b->average_lvel_buffer = NULL; // no buffer at beginning
dBodySetAutoDisableDefaults (b); // must do this after adding to world
b->adis_stepsleft = b->adis.idle_steps;
b->adis_timeleft = b->adis.idle_time;
b->average_counter = 0;
b->average_ready = 0; // average buffer not filled on the beginning
dBodySetAutoDisableAverageSamplesCount(b, b->adis.average_samples);
b->moved_callback = NULL;
dBodySetDampingDefaults(b); // must do this after adding to world
b->flags |= w->body_flags & dxBodyMaxAngularSpeed;
b->max_angular_speed = w->max_angular_speed;
b->flags |= dxBodyGyroscopic;
return b;
}
void dBodyDestroy (dxBody *b)
{
dAASSERT (b);
// all geoms that link to this body must be notified that the body is about
// to disappear. note that the call to dGeomSetBody(geom,0) will result in
// dGeomGetBodyNext() returning 0 for the body, so we must get the next body
// before setting the body to 0.
dxGeom *next_geom = NULL;
for (dxGeom *geom = b->geom; geom; geom = next_geom) {
next_geom = dGeomGetBodyNext (geom);
dGeomSetBody (geom,0);
}
// detach all neighbouring joints, then delete this body.
dxJointNode *n = b->firstjoint;
while (n) {
// sneaky trick to speed up removal of joint references (black magic)
n->joint->node[(n == n->joint->node)].body = NULL;
dxJointNode *next = n->next;
n->next = NULL;
removeJointReferencesFromAttachedBodies (n->joint);
n = next;
}
removeObjectFromList (b);
b->world->nb--;
// delete the average buffers
if(b->average_lvel_buffer)
{
delete[] (b->average_lvel_buffer);
b->average_lvel_buffer = NULL;
}
if(b->average_avel_buffer)
{
delete[] (b->average_avel_buffer);
b->average_avel_buffer = NULL;
}
delete b;
}
void dBodySetData (dBodyID b, void *data)
{
dAASSERT (b);
b->userdata = data;
}
void *dBodyGetData (dBodyID b)
{
dAASSERT (b);
return b->userdata;
}
void dBodySetPosition (dBodyID b, dReal x, dReal y, dReal z)
{
dAASSERT (b);
b->posr.pos[0] = x;
b->posr.pos[1] = y;
b->posr.pos[2] = z;
// notify all attached geoms that this body has moved
for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
dGeomMoved (geom);
}
void dBodySetRotation (dBodyID b, const dMatrix3 R)
{
dAASSERT (b && R);
memcpy(b->posr.R, R, sizeof(dMatrix3));
bool bOrthogonalizeResult = dxOrthogonalizeR(b->posr.R);
dAVERIFY(bOrthogonalizeResult);
dRtoQ (R, b->q);
dNormalize4 (b->q);
// notify all attached geoms that this body has moved
for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom)) {
dGeomMoved (geom);
}
}
void dBodySetQuaternion (dBodyID b, const dQuaternion q)
{
dAASSERT (b && q);
b->q[0] = q[0];
b->q[1] = q[1];
b->q[2] = q[2];
b->q[3] = q[3];
dNormalize4 (b->q);
dQtoR (b->q,b->posr.R);
// notify all attached geoms that this body has moved
for (dxGeom *geom = b->geom; geom; geom = dGeomGetBodyNext (geom))
dGeomMoved (geom);
}
void dBodySetLinearVel (dBodyID b, dReal x, dReal y, dReal z)
{
dAASSERT (b);
b->lvel[0] = x;
b->lvel[1] = y;
b->lvel[2] = z;
}
void dBodySetAngularVel (dBodyID b, dReal x, dReal y, dReal z)
{
dAASSERT (b);
b->avel[0] = x;
b->avel[1] = y;
b->avel[2] = z;
}
const dReal * dBodyGetPosition (dBodyID b)
{
dAASSERT (b);
return b->posr.pos;
}
void dBodyCopyPosition (dBodyID b, dVector3 pos)
{
dAASSERT (b);
dReal* src = b->posr.pos;
pos[0] = src[0];
pos[1] = src[1];
pos[2] = src[2];
}
const dReal * dBodyGetRotation (dBodyID b)
{
dAASSERT (b);
return b->posr.R;
}
void dBodyCopyRotation (dBodyID b, dMatrix3 R)
{
dAASSERT (b);
const dReal* src = b->posr.R;
R[0] = src[0];
R[1] = src[1];
R[2] = src[2];
R[3] = src[3];
R[4] = src[4];
R[5] = src[5];
R[6] = src[6];
R[7] = src[7];
R[8] = src[8];
R[9] = src[9];
R[10] = src[10];
R[11] = src[11];
}
const dReal * dBodyGetQuaternion (dBodyID b)
{
dAASSERT (b);
return b->q;
}
void dBodyCopyQuaternion (dBodyID b, dQuaternion quat)
{
dAASSERT (b);
dReal* src = b->q;
quat[0] = src[0];
quat[1] = src[1];
quat[2] = src[2];
quat[3] = src[3];
}
const dReal * dBodyGetLinearVel (dBodyID b)
{
dAASSERT (b);
return b->lvel;
}
const dReal * dBodyGetAngularVel (dBodyID b)
{
dAASSERT (b);
return b->avel;
}
void dBodySetMass (dBodyID b, const dMass *mass)
{
dAASSERT (b && mass );
dIASSERT(dMassCheck(mass));
// The centre of mass must be at the origin.
// Use dMassTranslate( mass, -mass->c[0], -mass->c[1], -mass->c[2] ) to correct it.
dUASSERT( fabs( mass->c[0] ) <= dEpsilon &&
fabs( mass->c[1] ) <= dEpsilon &&
fabs( mass->c[2] ) <= dEpsilon, "The centre of mass must be at the origin." );
b->mass = *mass;
if (dInvertPDMatrix (b->mass.I,b->invI,3,NULL)==0) {
dDEBUGMSG ("inertia must be positive definite!");
dRSetIdentity (b->invI);
}
b->invMass = dRecip(b->mass.mass);
}
void dBodyGetMass (dBodyID b, dMass *mass)
{
dAASSERT (b && mass);
*mass = b->mass;
}
void dBodyAddForce (dBodyID b, dReal fx, dReal fy, dReal fz)
{
dAASSERT (b);
b->facc[0] += fx;
b->facc[1] += fy;
b->facc[2] += fz;
}
void dBodyAddTorque (dBodyID b, dReal fx, dReal fy, dReal fz)
{
dAASSERT (b);
b->tacc[0] += fx;
b->tacc[1] += fy;
b->tacc[2] += fz;
}
void dBodyAddRelForce (dBodyID b, dReal fx, dReal fy, dReal fz)
{
dAASSERT (b);
dVector3 t1,t2;
t1[0] = fx;
t1[1] = fy;
t1[2] = fz;
t1[3] = 0;
dMultiply0_331 (t2,b->posr.R,t1);
b->facc[0] += t2[0];
b->facc[1] += t2[1];
b->facc[2] += t2[2];
}
void dBodyAddRelTorque (dBodyID b, dReal fx, dReal fy, dReal fz)
{
dAASSERT (b);
dVector3 t1,t2;
t1[0] = fx;
t1[1] = fy;
t1[2] = fz;
t1[3] = 0;
dMultiply0_331 (t2,b->posr.R,t1);
b->tacc[0] += t2[0];
b->tacc[1] += t2[1];
b->tacc[2] += t2[2];
}
void dBodyAddForceAtPos (dBodyID b, dReal fx, dReal fy, dReal fz,
dReal px, dReal py, dReal pz)
{
dAASSERT (b);
b->facc[0] += fx;
b->facc[1] += fy;
b->facc[2] += fz;
dVector3 f,q;
f[0] = fx;
f[1] = fy;
f[2] = fz;
q[0] = px - b->posr.pos[0];
q[1] = py - b->posr.pos[1];
q[2] = pz - b->posr.pos[2];
dAddVectorCross3(b->tacc,q,f);
}
void dBodyAddForceAtRelPos (dBodyID b, dReal fx, dReal fy, dReal fz,
dReal px, dReal py, dReal pz)
{
dAASSERT (b);
dVector3 prel,f,p;
f[0] = fx;
f[1] = fy;
f[2] = fz;
f[3] = 0;
prel[0] = px;
prel[1] = py;
prel[2] = pz;
prel[3] = 0;
dMultiply0_331 (p,b->posr.R,prel);
b->facc[0] += f[0];
b->facc[1] += f[1];
b->facc[2] += f[2];
dAddVectorCross3(b->tacc,p,f);
}
void dBodyAddRelForceAtPos (dBodyID b, dReal fx, dReal fy, dReal fz,
dReal px, dReal py, dReal pz)
{
dAASSERT (b);
dVector3 frel,f;
frel[0] = fx;
frel[1] = fy;
frel[2] = fz;
frel[3] = 0;
dMultiply0_331 (f,b->posr.R,frel);
b->facc[0] += f[0];
b->facc[1] += f[1];
b->facc[2] += f[2];
dVector3 q;
q[0] = px - b->posr.pos[0];
q[1] = py - b->posr.pos[1];
q[2] = pz - b->posr.pos[2];
dAddVectorCross3(b->tacc,q,f);
}
void dBodyAddRelForceAtRelPos (dBodyID b, dReal fx, dReal fy, dReal fz,
dReal px, dReal py, dReal pz)
{
dAASSERT (b);
dVector3 frel,prel,f,p;
frel[0] = fx;
frel[1] = fy;
frel[2] = fz;
frel[3] = 0;
prel[0] = px;
prel[1] = py;
prel[2] = pz;
prel[3] = 0;
dMultiply0_331 (f,b->posr.R,frel);
dMultiply0_331 (p,b->posr.R,prel);
b->facc[0] += f[0];
b->facc[1] += f[1];
b->facc[2] += f[2];
dAddVectorCross3(b->tacc,p,f);
}
const dReal * dBodyGetForce (dBodyID b)
{
dAASSERT (b);
return b->facc;
}
const dReal * dBodyGetTorque (dBodyID b)
{
dAASSERT (b);
return b->tacc;
}
void dBodySetForce (dBodyID b, dReal x, dReal y, dReal z)
{
dAASSERT (b);
b->facc[0] = x;
b->facc[1] = y;
b->facc[2] = z;
}
void dBodySetTorque (dBodyID b, dReal x, dReal y, dReal z)
{
dAASSERT (b);
b->tacc[0] = x;
b->tacc[1] = y;
b->tacc[2] = z;
}
void dBodyGetRelPointPos (dBodyID b, dReal px, dReal py, dReal pz,
dVector3 result)
{
dAASSERT (b);
dVector3 prel,p;
prel[0] = px;
prel[1] = py;
prel[2] = pz;
prel[3] = 0;
dMultiply0_331 (p,b->posr.R,prel);
result[0] = p[0] + b->posr.pos[0];
result[1] = p[1] + b->posr.pos[1];
result[2] = p[2] + b->posr.pos[2];
}
void dBodyGetRelPointVel (dBodyID b, dReal px, dReal py, dReal pz,
dVector3 result)
{
dAASSERT (b);
dVector3 prel,p;
prel[0] = px;
prel[1] = py;
prel[2] = pz;
prel[3] = 0;
dMultiply0_331 (p,b->posr.R,prel);
result[0] = b->lvel[0];
result[1] = b->lvel[1];
result[2] = b->lvel[2];
dAddVectorCross3(result,b->avel,p);
}
void dBodyGetPointVel (dBodyID b, dReal px, dReal py, dReal pz,
dVector3 result)
{
dAASSERT (b);
dVector3 p;
p[0] = px - b->posr.pos[0];
p[1] = py - b->posr.pos[1];
p[2] = pz - b->posr.pos[2];
p[3] = 0;
result[0] = b->lvel[0];
result[1] = b->lvel[1];
result[2] = b->lvel[2];
dAddVectorCross3(result,b->avel,p);
}
void dBodyGetPosRelPoint (dBodyID b, dReal px, dReal py, dReal pz,
dVector3 result)
{
dAASSERT (b);
dVector3 prel;
prel[0] = px - b->posr.pos[0];
prel[1] = py - b->posr.pos[1];
prel[2] = pz - b->posr.pos[2];
prel[3] = 0;
dMultiply1_331 (result,b->posr.R,prel);
}
void dBodyVectorToWorld (dBodyID b, dReal px, dReal py, dReal pz,
dVector3 result)
{
dAASSERT (b);
dVector3 p;
p[0] = px;
p[1] = py;
p[2] = pz;
p[3] = 0;
dMultiply0_331 (result,b->posr.R,p);
}
void dBodyVectorFromWorld (dBodyID b, dReal px, dReal py, dReal pz,
dVector3 result)
{
dAASSERT (b);
dVector3 p;
p[0] = px;
p[1] = py;
p[2] = pz;
p[3] = 0;
dMultiply1_331 (result,b->posr.R,p);
}
void dBodySetFiniteRotationMode (dBodyID b, int mode)
{
dAASSERT (b);
b->flags &= ~(dxBodyFlagFiniteRotation | dxBodyFlagFiniteRotationAxis);
if (mode) {
b->flags |= dxBodyFlagFiniteRotation;
if (b->finite_rot_axis[0] != 0 || b->finite_rot_axis[1] != 0 ||
b->finite_rot_axis[2] != 0) {
b->flags |= dxBodyFlagFiniteRotationAxis;
}
}
}
void dBodySetFiniteRotationAxis (dBodyID b, dReal x, dReal y, dReal z)
{
dAASSERT (b);
b->finite_rot_axis[0] = x;
b->finite_rot_axis[1] = y;
b->finite_rot_axis[2] = z;
if (x != 0 || y != 0 || z != 0) {
dNormalize3 (b->finite_rot_axis);
b->flags |= dxBodyFlagFiniteRotationAxis;
}
else {
b->flags &= ~dxBodyFlagFiniteRotationAxis;
}
}
int dBodyGetFiniteRotationMode (dBodyID b)
{
dAASSERT (b);
return ((b->flags & dxBodyFlagFiniteRotation) != 0);
}
void dBodyGetFiniteRotationAxis (dBodyID b, dVector3 result)
{
dAASSERT (b);
result[0] = b->finite_rot_axis[0];
result[1] = b->finite_rot_axis[1];
result[2] = b->finite_rot_axis[2];
}
int dBodyGetNumJoints (dBodyID b)
{
dAASSERT (b);
int count=0;
for (dxJointNode *n=b->firstjoint; n; n=n->next, count++);
return count;
}
dJointID dBodyGetJoint (dBodyID b, int index)
{
dAASSERT (b);
int i=0;
for (dxJointNode *n=b->firstjoint; n; n=n->next, i++) {
if (i == index) return n->joint;
}
return 0;
}
void dBodySetDynamic (dBodyID b)
{
dAASSERT (b);
dBodySetMass(b,&b->mass);
}
void dBodySetKinematic (dBodyID b)
{
dAASSERT (b);
dSetZero (b->invI,4*3);
b->invMass = 0;
}
int dBodyIsKinematic (dBodyID b)
{
dAASSERT (b);
return b->invMass == 0;
}
void dBodyEnable (dBodyID b)
{
dAASSERT (b);
b->flags &= ~dxBodyDisabled;
b->adis_stepsleft = b->adis.idle_steps;
b->adis_timeleft = b->adis.idle_time;
// no code for average-processing needed here
}
void dBodyDisable (dBodyID b)
{
dAASSERT (b);
b->flags |= dxBodyDisabled;
}
int dBodyIsEnabled (dBodyID b)
{
dAASSERT (b);
return ((b->flags & dxBodyDisabled) == 0);
}
void dBodySetGravityMode (dBodyID b, int mode)
{
dAASSERT (b);
if (mode) b->flags &= ~dxBodyNoGravity;
else b->flags |= dxBodyNoGravity;
}
int dBodyGetGravityMode (dBodyID b)
{
dAASSERT (b);
return ((b->flags & dxBodyNoGravity) == 0);
}
// body auto-disable functions
dReal dBodyGetAutoDisableLinearThreshold (dBodyID b)
{
dAASSERT(b);
return dSqrt (b->adis.linear_average_threshold);
}
void dBodySetAutoDisableLinearThreshold (dBodyID b, dReal linear_average_threshold)
{
dAASSERT(b);
b->adis.linear_average_threshold = linear_average_threshold * linear_average_threshold;
}
dReal dBodyGetAutoDisableAngularThreshold (dBodyID b)
{
dAASSERT(b);
return dSqrt (b->adis.angular_average_threshold);
}
void dBodySetAutoDisableAngularThreshold (dBodyID b, dReal angular_average_threshold)
{
dAASSERT(b);
b->adis.angular_average_threshold = angular_average_threshold * angular_average_threshold;
}
int dBodyGetAutoDisableAverageSamplesCount (dBodyID b)
{
dAASSERT(b);
return b->adis.average_samples;
}
void dBodySetAutoDisableAverageSamplesCount (dBodyID b, unsigned int average_samples_count)
{
dAASSERT(b);
b->adis.average_samples = average_samples_count;
// update the average buffers
if(b->average_lvel_buffer)
{
delete[] b->average_lvel_buffer;
b->average_lvel_buffer = NULL;
}
if(b->average_avel_buffer)
{
delete[] b->average_avel_buffer;
b->average_avel_buffer = NULL;
}
if(b->adis.average_samples > 0)
{
b->average_lvel_buffer = new dVector3[b->adis.average_samples];
b->average_avel_buffer = new dVector3[b->adis.average_samples];
}
else
{
b->average_lvel_buffer = NULL;
b->average_avel_buffer = NULL;
}
// new buffer is empty
b->average_counter = 0;
b->average_ready = 0;
}
int dBodyGetAutoDisableSteps (dBodyID b)
{
dAASSERT(b);
return b->adis.idle_steps;
}
void dBodySetAutoDisableSteps (dBodyID b, int steps)
{
dAASSERT(b);
b->adis.idle_steps = steps;
}
dReal dBodyGetAutoDisableTime (dBodyID b)
{
dAASSERT(b);
return b->adis.idle_time;
}
void dBodySetAutoDisableTime (dBodyID b, dReal time)
{
dAASSERT(b);
b->adis.idle_time = time;
}
int dBodyGetAutoDisableFlag (dBodyID b)
{
dAASSERT(b);
return ((b->flags & dxBodyAutoDisable) != 0);
}
void dBodySetAutoDisableFlag (dBodyID b, int do_auto_disable)
{
dAASSERT(b);
if (!do_auto_disable)
{
b->flags &= ~dxBodyAutoDisable;
// (mg) we should also reset the IsDisabled state to correspond to the DoDisabling flag
b->flags &= ~dxBodyDisabled;
b->adis.idle_steps = dWorldGetAutoDisableSteps(b->world);
b->adis.idle_time = dWorldGetAutoDisableTime(b->world);
// resetting the average calculations too
dBodySetAutoDisableAverageSamplesCount(b, dWorldGetAutoDisableAverageSamplesCount(b->world) );
}
else
{
b->flags |= dxBodyAutoDisable;
}
}
void dBodySetAutoDisableDefaults (dBodyID b)
{
dAASSERT(b);
dWorldID w = b->world;
dAASSERT(w);
b->adis = w->adis;
dBodySetAutoDisableFlag (b, w->body_flags & dxBodyAutoDisable);
}
// body damping functions
dReal dBodyGetLinearDamping(dBodyID b)
{
dAASSERT(b);
return b->dampingp.linear_scale;
}
void dBodySetLinearDamping(dBodyID b, dReal scale)
{
dAASSERT(b);
if (scale)
b->flags |= dxBodyLinearDamping;
else
b->flags &= ~dxBodyLinearDamping;
b->dampingp.linear_scale = scale;
}
dReal dBodyGetAngularDamping(dBodyID b)
{
dAASSERT(b);
return b->dampingp.angular_scale;
}
void dBodySetAngularDamping(dBodyID b, dReal scale)
{
dAASSERT(b);
if (scale)
b->flags |= dxBodyAngularDamping;
else
b->flags &= ~dxBodyAngularDamping;
b->dampingp.angular_scale = scale;
}
void dBodySetDamping(dBodyID b, dReal linear_scale, dReal angular_scale)
{
dAASSERT(b);
dBodySetLinearDamping(b, linear_scale);
dBodySetAngularDamping(b, angular_scale);
}
dReal dBodyGetLinearDampingThreshold(dBodyID b)
{
dAASSERT(b);
return dSqrt(b->dampingp.linear_threshold);
}
void dBodySetLinearDampingThreshold(dBodyID b, dReal threshold)
{
dAASSERT(b);
b->dampingp.linear_threshold = threshold*threshold;
}
dReal dBodyGetAngularDampingThreshold(dBodyID b)
{
dAASSERT(b);
return dSqrt(b->dampingp.angular_threshold);
}
void dBodySetAngularDampingThreshold(dBodyID b, dReal threshold)
{
dAASSERT(b);
b->dampingp.angular_threshold = threshold*threshold;
}
void dBodySetDampingDefaults(dBodyID b)
{
dAASSERT(b);
dWorldID w = b->world;
dAASSERT(w);
b->dampingp = w->dampingp;
const unsigned mask = dxBodyLinearDamping | dxBodyAngularDamping;
b->flags &= ~mask; // zero them
b->flags |= w->body_flags & mask;
}
dReal dBodyGetMaxAngularSpeed(dBodyID b)
{
dAASSERT(b);
return b->max_angular_speed;
}
void dBodySetMaxAngularSpeed(dBodyID b, dReal max_speed)
{
dAASSERT(b);
if (max_speed < dInfinity)
b->flags |= dxBodyMaxAngularSpeed;
else
b->flags &= ~dxBodyMaxAngularSpeed;
b->max_angular_speed = max_speed;
}
void dBodySetMovedCallback(dBodyID b, void (*callback)(dBodyID))
{
dAASSERT(b);
b->moved_callback = callback;
}
dGeomID dBodyGetFirstGeom(dBodyID b)
{
dAASSERT(b);
return b->geom;
}
dGeomID dBodyGetNextGeom(dGeomID geom)
{
dAASSERT(geom);
return dGeomGetBodyNext(geom);
}
int dBodyGetGyroscopicMode(dBodyID b)
{
dAASSERT(b);
return b->flags & dxBodyGyroscopic;
}
void dBodySetGyroscopicMode(dBodyID b, int enabled)
{
dAASSERT(b);
if (enabled)
b->flags |= dxBodyGyroscopic;
else
b->flags &= ~dxBodyGyroscopic;
}
//****************************************************************************
// joints
template<class T>
dxJoint* createJoint(dWorldID w, dJointGroupID group)
{
dxJoint *j;
if (group) {
j = group->alloc<T>(w);
} else {
j = new T(w);
}
return j;
}
dxJoint * dJointCreateBall (dWorldID w, dJointGroupID group)
{
dAASSERT (w);
return createJoint<dxJointBall>(w,group);
}
dxJoint * dJointCreateHinge (dWorldID w, dJointGroupID group)
{
dAASSERT (w);
return createJoint<dxJointHinge>(w,group);
}
dxJoint * dJointCreateSlider (dWorldID w, dJointGroupID group)
{
dAASSERT (w);
return createJoint<dxJointSlider>(w,group);
}
dxJoint * dJointCreateContact (dWorldID w, dJointGroupID group,
const dContact *c)
{
dAASSERT (w && c);
dxJointContact *j = (dxJointContact *)
createJoint<dxJointContact> (w,group);
j->contact = *c;
return j;
}
dxJoint * dJointCreateHinge2 (dWorldID w, dJointGroupID group)
{
dAASSERT (w);
return createJoint<dxJointHinge2> (w,group);
}
dxJoint * dJointCreateUniversal (dWorldID w, dJointGroupID group)
{
dAASSERT (w);
return createJoint<dxJointUniversal> (w,group);
}
dxJoint * dJointCreatePR (dWorldID w, dJointGroupID group)
{
dAASSERT (w);
return createJoint<dxJointPR> (w,group);
}
dxJoint * dJointCreatePU (dWorldID w, dJointGroupID group)
{
dAASSERT (w);
return createJoint<dxJointPU> (w,group);
}
dxJoint * dJointCreatePiston (dWorldID w, dJointGroupID group)
{
dAASSERT (w);
return createJoint<dxJointPiston> (w,group);
}
dxJoint * dJointCreateFixed (dWorldID w, dJointGroupID group)
{
dAASSERT (w);
return createJoint<dxJointFixed> (w,group);
}
dxJoint * dJointCreateNull (dWorldID w, dJointGroupID group)
{
dAASSERT (w);
return createJoint<dxJointNull> (w,group);
}
dxJoint * dJointCreateAMotor (dWorldID w, dJointGroupID group)
{
dAASSERT (w);
return createJoint<dxJointAMotor> (w,group);
}
dxJoint * dJointCreateLMotor (dWorldID w, dJointGroupID group)
{
dAASSERT (w);
return createJoint<dxJointLMotor> (w,group);
}
dxJoint * dJointCreatePlane2D (dWorldID w, dJointGroupID group)
{
dAASSERT (w);
return createJoint<dxJointPlane2D> (w,group);
}
dxJoint * dJointCreateDBall (dWorldID w, dJointGroupID group)
{
dAASSERT (w);
return createJoint<dxJointDBall> (w,group);
}
dxJoint * dJointCreateDHinge (dWorldID w, dJointGroupID group)
{
dAASSERT (w);
return createJoint<dxJointDHinge> (w,group);
}
dxJoint * dJointCreateTransmission (dWorldID w, dJointGroupID group)
{
dAASSERT (w);
return createJoint<dxJointTransmission> (w,group);
}
static void FinalizeAndDestroyJointInstance(dxJoint *j, bool delete_it)
{
// if any group joints have their world pointer set to 0, their world was
// previously destroyed. no special handling is required for these joints.
if (j->world != NULL) {
removeJointReferencesFromAttachedBodies (j);
removeObjectFromList (j);
j->world->nj--;
}
if (delete_it) {
delete j;
} else {
j->~dxJoint();
}
}
void dJointDestroy (dxJoint *j)
{
dAASSERT (j);
if (!(j->flags & dJOINT_INGROUP)) {
FinalizeAndDestroyJointInstance(j, true);
}
}
dJointGroupID dJointGroupCreate (int /*max_size*/)
{
// not anymore ... dUASSERT (max_size > 0,"max size must be > 0");
dxJointGroup *group = new dxJointGroup();
return group;
}
void dJointGroupDestroy (dJointGroupID group)
{
dAASSERT (group);
dJointGroupEmpty (group);
delete group;
}
void dJointGroupEmpty (dJointGroupID group)
{
dAASSERT (group);
const sizeint num_joints = group->getJointCount();
if (num_joints != 0) {
// Local array is used since ALLOCA leads to mysterious NULL values in first array element and crashes under VS2005 :)
const sizeint max_stack_jlist_size = 1024;
dxJoint *stack_jlist[max_stack_jlist_size];
const sizeint jlist_size = num_joints * sizeof(dxJoint*);
dxJoint **jlist = num_joints <= max_stack_jlist_size ? stack_jlist : (dxJoint **)dAlloc(jlist_size);
if (jlist != NULL) {
// the joints in this group are detached starting from the most recently
// added (at the top of the stack). this helps ensure that the various
// linked lists are not traversed too much, as the joints will hopefully
// be at the start of those lists.
sizeint num_exported = group->exportJoints(jlist);
dIVERIFY(num_exported == num_joints);
for (sizeint i = num_joints; i != 0; ) {
--i;
dxJoint *j = jlist[i];
FinalizeAndDestroyJointInstance(j, false);
}
} else {
// ...else if there is no memory, go on detaching the way it is possible
sizeint joint_bytes;
for (dxJoint *j = (dxJoint *)group->beginEnum(); j != NULL; j = (dxJoint *)group->continueEnum(joint_bytes)) {
joint_bytes = j->size(); // Get size before object is destroyed!
FinalizeAndDestroyJointInstance(j, false);
}
}
group->freeAll();
if (jlist != stack_jlist && jlist != NULL) {
dFree(jlist, jlist_size);
}
}
}
int dJointGetNumBodies(dxJoint *joint)
{
// check arguments
dUASSERT (joint,"bad joint argument");
if ( !joint->node[0].body )
return 0;
else if ( !joint->node[1].body )
return 1;
else
return 2;
}
void dJointAttach (dxJoint *joint, dxBody *body1, dxBody *body2)
{
// check arguments
dUASSERT (joint,"bad joint argument");
dUASSERT (body1 == NULL || body1 != body2, "can't have body1==body2");
dxWorld *world = joint->world;
dUASSERT ( (body1 == NULL || body1->world == world) &&
(body2 == NULL || body2->world == world),
"joint and bodies must be in same world");
// check if the joint can not be attached to just one body
dUASSERT (!((joint->flags & dJOINT_TWOBODIES) &&
((body1 != NULL) != (body2 != NULL))),
"joint can not be attached to just one body");
// remove any existing body attachments
if (joint->node[0].body != NULL || joint->node[1].body != NULL) {
removeJointReferencesFromAttachedBodies (joint);
}
// if a body is zero, make sure that it is body2, so 0 --> node[1].body
if (body1 == NULL) {
body1 = body2;
body2 = NULL;
joint->flags |= dJOINT_REVERSE;
}
else {
joint->flags &= (~dJOINT_REVERSE);
}
// attach to new bodies
joint->node[0].body = body1;
joint->node[1].body = body2;
if (body1 != NULL) {
joint->node[1].next = body1->firstjoint;
body1->firstjoint = &joint->node[1];
}
else {
joint->node[1].next = NULL;
}
if (body2 != NULL) {
joint->node[0].next = body2->firstjoint;
body2->firstjoint = &joint->node[0];
}
else {
joint->node[0].next = NULL;
}
// Since the bodies are now set.
// Calculate the values depending on the bodies.
// Only need to calculate relative value if a body exist
if (body1 != NULL || body2 != NULL) {
joint->setRelativeValues();
}
}
void dJointEnable (dxJoint *joint)
{
dAASSERT (joint);
joint->flags &= ~dJOINT_DISABLED;
}
void dJointDisable (dxJoint *joint)
{
dAASSERT (joint);
joint->flags |= dJOINT_DISABLED;
}
int dJointIsEnabled (dxJoint *joint)
{
dAASSERT (joint);
return (joint->flags & dJOINT_DISABLED) == 0;
}
void dJointSetData (dxJoint *joint, void *data)
{
dAASSERT (joint);
joint->userdata = data;
}
void *dJointGetData (dxJoint *joint)
{
dAASSERT (joint);
return joint->userdata;
}
dJointType dJointGetType (dxJoint *joint)
{
dAASSERT (joint);
return joint->type();
}
dBodyID dJointGetBody (dxJoint *joint, int index)
{
dAASSERT (joint);
if (index == 0 || index == 1) {
if (joint->flags & dJOINT_REVERSE) return joint->node[1-index].body;
else return joint->node[index].body;
}
else return 0;
}
void dJointSetFeedback (dxJoint *joint, dJointFeedback *f)
{
dAASSERT (joint);
joint->feedback = f;
}
dJointFeedback *dJointGetFeedback (dxJoint *joint)
{
dAASSERT (joint);
return joint->feedback;
}
dJointID dConnectingJoint (dBodyID in_b1, dBodyID in_b2)
{
dAASSERT (in_b1 || in_b2);
dBodyID b1, b2;
if (in_b1 == 0) {
b1 = in_b2;
b2 = in_b1;
}
else {
b1 = in_b1;
b2 = in_b2;
}
// look through b1's neighbour list for b2
for (dxJointNode *n=b1->firstjoint; n; n=n->next) {
if (n->body == b2) return n->joint;
}
return 0;
}
int dConnectingJointList (dBodyID in_b1, dBodyID in_b2, dJointID* out_list)
{
dAASSERT (in_b1 || in_b2);
dBodyID b1, b2;
if (in_b1 == 0) {
b1 = in_b2;
b2 = in_b1;
}
else {
b1 = in_b1;
b2 = in_b2;
}
// look through b1's neighbour list for b2
int numConnectingJoints = 0;
for (dxJointNode *n=b1->firstjoint; n; n=n->next) {
if (n->body == b2)
out_list[numConnectingJoints++] = n->joint;
}
return numConnectingJoints;
}
int dAreConnected (dBodyID b1, dBodyID b2)
{
dAASSERT (b1/* && b2*/); // b2 can be NULL to test for connection to environment
// look through b1's neighbour list for b2
for (dxJointNode *n=b1->firstjoint; n; n=n->next) {
if (n->body == b2) return 1;
}
return 0;
}
int dAreConnectedExcluding (dBodyID b1, dBodyID b2, int joint_type)
{
dAASSERT (b1/* && b2*/); // b2 can be NULL to test for connection to environment
// look through b1's neighbour list for b2
for (dxJointNode *n=b1->firstjoint; n; n=n->next) {
if (dJointGetType (n->joint) != joint_type && n->body == b2) return 1;
}
return 0;
}
//****************************************************************************
// world
dxWorld * dWorldCreate()
{
dxWorld *w = new dxWorld();
return w;
}
void dWorldDestroy (dxWorld *w)
{
// delete all bodies and joints
dAASSERT (w);
dxBody *nextb, *b = w->firstbody;
while (b) {
nextb = (dxBody*) b->next;
dBodyDestroy(b); // calling here dBodyDestroy for correct destroying! (i.e. the average buffers)
b = nextb;
}
dxJoint *nextj, *j = w->firstjoint;
while (j) {
nextj = (dxJoint*)j->next;
if (j->flags & dJOINT_INGROUP) {
// the joint is part of a group, so "deactivate" it instead
j->world = NULL;
j->node[0].body = NULL;
j->node[0].next = NULL;
j->node[1].body = NULL;
j->node[1].next = NULL;
dMessage (0,"warning: destroying world containing grouped joints");
}
else {
// TODO: shouldn't we call dJointDestroy()?
sizeint sz = j->size();
j->~dxJoint();
dFree (j,sz);
}
j = nextj;
}
delete w;
}
void dWorldSetData (dWorldID w, void *data)
{
dAASSERT (w);
w->userdata = data;
}
void* dWorldGetData (dWorldID w)
{
dAASSERT (w);
return w->userdata;
}
void dWorldSetGravity (dWorldID w, dReal x, dReal y, dReal z)
{
dAASSERT (w);
w->gravity[0] = x;
w->gravity[1] = y;
w->gravity[2] = z;
}
void dWorldGetGravity (dWorldID w, dVector3 g)
{
dAASSERT (w);
g[0] = w->gravity[0];
g[1] = w->gravity[1];
g[2] = w->gravity[2];
}
void dWorldSetERP (dWorldID w, dReal erp)
{
dAASSERT (w);
w->global_erp = erp;
}
dReal dWorldGetERP (dWorldID w)
{
dAASSERT (w);
return w->global_erp;
}
void dWorldSetCFM (dWorldID w, dReal cfm)
{
dAASSERT (w);
w->global_cfm = cfm;
}
dReal dWorldGetCFM (dWorldID w)
{
dAASSERT (w);
return w->global_cfm;
}
void dWorldSetStepIslandsProcessingMaxThreadCount(dWorldID w, unsigned count)
{
dAASSERT (w);
w->islands_max_threads = count;
}
unsigned dWorldGetStepIslandsProcessingMaxThreadCount(dWorldID w)
{
dAASSERT (w);
return w->islands_max_threads;
}
int dWorldUseSharedWorkingMemory(dWorldID w, dWorldID from_world)
{
dUASSERT (w,"bad world argument");
bool result = false;
if (from_world)
{
dUASSERT (!w->wmem, "world does already have working memory allocated"); // Prevent replacement of one memory object with another to avoid cases when smaller buffer replaces a larger one or memory manager changes.
dxStepWorkingMemory *wmem = AllocateOnDemand(from_world->wmem);
if (wmem)
{
// Even though there is an assertion check on entry still release existing
// memory object for extra safety.
if (w->wmem)
{
w->wmem->Release();
w->wmem = NULL;
}
wmem->Addref();
w->wmem = wmem;
result = true;
}
}
else
{
dxStepWorkingMemory *wmem = w->wmem;
if (wmem)
{
wmem->Release();
w->wmem = NULL;
}
result = true;
}
return result;
}
void dWorldCleanupWorkingMemory(dWorldID w)
{
dUASSERT (w,"bad world argument");
dxStepWorkingMemory *wmem = w->wmem;
if (wmem)
{
wmem->CleanupMemory();
}
}
int dWorldSetStepMemoryReservationPolicy(dWorldID w, const dWorldStepReserveInfo *policyinfo)
{
dUASSERT (w,"bad world argument");
dUASSERT (!policyinfo || (policyinfo->struct_size >= sizeof(*policyinfo) && policyinfo->reserve_factor >= 1.0f), "Bad policy info");
bool result = false;
dxStepWorkingMemory *wmem = policyinfo ? AllocateOnDemand(w->wmem) : w->wmem;
if (wmem)
{
if (policyinfo)
{
wmem->SetMemoryReserveInfo(policyinfo->reserve_factor, policyinfo->reserve_minimum);
result = wmem->GetMemoryReserveInfo() != NULL;
}
else
{
wmem->ResetMemoryReserveInfoToDefault();
result = true;
}
}
else if (!policyinfo)
{
result = true;
}
return result;
}
int dWorldSetStepMemoryManager(dWorldID w, const dWorldStepMemoryFunctionsInfo *memfuncs)
{
dUASSERT (w,"bad world argument");
dUASSERT (!memfuncs || memfuncs->struct_size >= sizeof(*memfuncs), "Bad memory functions info");
bool result = false;
dxStepWorkingMemory *wmem = memfuncs ? AllocateOnDemand(w->wmem) : w->wmem;
if (wmem)
{
if (memfuncs)
{
wmem->SetMemoryManager(memfuncs->alloc_block, memfuncs->shrink_block, memfuncs->free_block);
result = wmem->GetMemoryManager() != NULL;
}
else
{
wmem->ResetMemoryManagerToDefault();
result = true;
}
}
else if (!memfuncs)
{
result = true;
}
return result;
}
void dWorldSetStepThreadingImplementation(dWorldID w,
const dxThreadingFunctionsInfo *functions_info, dThreadingImplementationID threading_impl)
{
dUASSERT (w,"bad world argument");
dUASSERT (!functions_info || functions_info->struct_size >= sizeof(*functions_info), "Bad threading functions info");
#if dTHREADING_INTF_DISABLED
dUASSERT(functions_info == NULL && threading_impl == NULL, "Threading interface is not available");
#else
w->assignThreadingImpl(functions_info, threading_impl);
#endif
}
int dWorldStep (dWorldID w, dReal stepsize)
{
dUASSERT (w,"bad world argument");
dUASSERT (stepsize > 0,"stepsize must be > 0");
bool result = false;
dxWorldProcessIslandsInfo islandsinfo;
if (dxReallocateWorldProcessContext (w, islandsinfo, stepsize, &dxEstimateStepMemoryRequirements))
{
if (dxProcessIslands (w, islandsinfo, stepsize, &dxStepIsland, &dxEstimateStepMaxCallCount))
{
result = true;
}
}
return result;
}
int dWorldQuickStep (dWorldID w, dReal stepsize)
{
dUASSERT (w,"bad world argument");
dUASSERT (stepsize > 0,"stepsize must be > 0");
bool result = false;
dxWorldProcessIslandsInfo islandsinfo;
if (dxReallocateWorldProcessContext (w, islandsinfo, stepsize, &dxEstimateQuickStepMemoryRequirements))
{
if (dxProcessIslands (w, islandsinfo, stepsize, &dxQuickStepIsland, &dxEstimateQuickStepMaxCallCount))
{
result = true;
}
}
return result;
}
void dWorldImpulseToForce (dWorldID w, dReal stepsize,
dReal ix, dReal iy, dReal iz,
dVector3 force)
{
dAASSERT (w);
stepsize = dRecip(stepsize);
force[0] = stepsize * ix;
force[1] = stepsize * iy;
force[2] = stepsize * iz;
// @@@ force[3] = 0;
}
// world auto-disable functions
dReal dWorldGetAutoDisableLinearThreshold (dWorldID w)
{
dAASSERT(w);
return dSqrt (w->adis.linear_average_threshold);
}
void dWorldSetAutoDisableLinearThreshold (dWorldID w, dReal linear_average_threshold)
{
dAASSERT(w);
w->adis.linear_average_threshold = linear_average_threshold * linear_average_threshold;
}
dReal dWorldGetAutoDisableAngularThreshold (dWorldID w)
{
dAASSERT(w);
return dSqrt (w->adis.angular_average_threshold);
}
void dWorldSetAutoDisableAngularThreshold (dWorldID w, dReal angular_average_threshold)
{
dAASSERT(w);
w->adis.angular_average_threshold = angular_average_threshold * angular_average_threshold;
}
int dWorldGetAutoDisableAverageSamplesCount (dWorldID w)
{
dAASSERT(w);
return w->adis.average_samples;
}
void dWorldSetAutoDisableAverageSamplesCount (dWorldID w, unsigned int average_samples_count)
{
dAASSERT(w);
w->adis.average_samples = average_samples_count;
}
int dWorldGetAutoDisableSteps (dWorldID w)
{
dAASSERT(w);
return w->adis.idle_steps;
}
void dWorldSetAutoDisableSteps (dWorldID w, int steps)
{
dAASSERT(w);
w->adis.idle_steps = steps;
}
dReal dWorldGetAutoDisableTime (dWorldID w)
{
dAASSERT(w);
return w->adis.idle_time;
}
void dWorldSetAutoDisableTime (dWorldID w, dReal time)
{
dAASSERT(w);
w->adis.idle_time = time;
}
int dWorldGetAutoDisableFlag (dWorldID w)
{
dAASSERT(w);
return w->body_flags & dxBodyAutoDisable;
}
void dWorldSetAutoDisableFlag (dWorldID w, int do_auto_disable)
{
dAASSERT(w);
if (do_auto_disable)
w->body_flags |= dxBodyAutoDisable;
else
w->body_flags &= ~dxBodyAutoDisable;
}
// world damping functions
dReal dWorldGetLinearDampingThreshold(dWorldID w)
{
dAASSERT(w);
return dSqrt(w->dampingp.linear_threshold);
}
void dWorldSetLinearDampingThreshold(dWorldID w, dReal threshold)
{
dAASSERT(w);
w->dampingp.linear_threshold = threshold*threshold;
}
dReal dWorldGetAngularDampingThreshold(dWorldID w)
{
dAASSERT(w);
return dSqrt(w->dampingp.angular_threshold);
}
void dWorldSetAngularDampingThreshold(dWorldID w, dReal threshold)
{
dAASSERT(w);
w->dampingp.angular_threshold = threshold*threshold;
}
dReal dWorldGetLinearDamping(dWorldID w)
{
dAASSERT(w);
return w->dampingp.linear_scale;
}
void dWorldSetLinearDamping(dWorldID w, dReal scale)
{
dAASSERT(w);
if (scale)
w->body_flags |= dxBodyLinearDamping;
else
w->body_flags &= ~dxBodyLinearDamping;
w->dampingp.linear_scale = scale;
}
dReal dWorldGetAngularDamping(dWorldID w)
{
dAASSERT(w);
return w->dampingp.angular_scale;
}
void dWorldSetAngularDamping(dWorldID w, dReal scale)
{
dAASSERT(w);
if (scale)
w->body_flags |= dxBodyAngularDamping;
else
w->body_flags &= ~dxBodyAngularDamping;
w->dampingp.angular_scale = scale;
}
void dWorldSetDamping(dWorldID w, dReal linear_scale, dReal angular_scale)
{
dAASSERT(w);
dWorldSetLinearDamping(w, linear_scale);
dWorldSetAngularDamping(w, angular_scale);
}
dReal dWorldGetMaxAngularSpeed(dWorldID w)
{
dAASSERT(w);
return w->max_angular_speed;
}
void dWorldSetMaxAngularSpeed(dWorldID w, dReal max_speed)
{
dAASSERT(w);
if (max_speed < dInfinity)
w->body_flags |= dxBodyMaxAngularSpeed;
else
w->body_flags &= ~dxBodyMaxAngularSpeed;
w->max_angular_speed = max_speed;
}
void dWorldSetQuickStepNumIterations (dWorldID w, int num)
{
dAASSERT(w);
w->qs.num_iterations = num;
}
int dWorldGetQuickStepNumIterations (dWorldID w)
{
dAASSERT(w);
return w->qs.num_iterations;
}
void dWorldSetQuickStepW (dWorldID w, dReal param)
{
dAASSERT(w);
w->qs.w = param;
}
dReal dWorldGetQuickStepW (dWorldID w)
{
dAASSERT(w);
return w->qs.w;
}
void dWorldSetContactMaxCorrectingVel (dWorldID w, dReal vel)
{
dAASSERT(w);
w->contactp.max_vel = vel;
}
dReal dWorldGetContactMaxCorrectingVel (dWorldID w)
{
dAASSERT(w);
return w->contactp.max_vel;
}
void dWorldSetContactSurfaceLayer (dWorldID w, dReal depth)
{
dAASSERT(w);
w->contactp.min_depth = depth;
}
dReal dWorldGetContactSurfaceLayer (dWorldID w)
{
dAASSERT(w);
return w->contactp.min_depth;
}
//****************************************************************************
// testing
#define NUM 100
#define DO(x)
extern "C" void dTestDataStructures()
{
int i;
DO(printf ("testDynamicsStuff()\n"));
dBodyID body [NUM];
int nb = 0;
dJointID joint [NUM];
int nj = 0;
for (i=0; i<NUM; i++) body[i] = NULL;
for (i=0; i<NUM; i++) joint[i] = NULL;
DO(printf ("creating world\n"));
dWorldID w = dWorldCreate();
checkWorld (w);
for (;;) {
if (nb < NUM && dRandReal() > 0.5) {
DO(printf ("creating body\n"));
body[nb] = dBodyCreate (w);
DO(printf ("\t--> %p\n",body[nb]));
nb++;
checkWorld (w);
DO(printf ("%d BODIES, %d JOINTS\n",nb,nj));
}
if (nj < NUM && nb > 2 && dRandReal() > 0.5) {
dBodyID b1 = body [dRand() % nb];
dBodyID b2 = body [dRand() % nb];
if (b1 != b2) {
DO(printf ("creating joint, attaching to %p,%p\n",b1,b2));
joint[nj] = dJointCreateBall (w,0);
DO(printf ("\t-->%p\n",joint[nj]));
checkWorld (w);
dJointAttach (joint[nj],b1,b2);
nj++;
checkWorld (w);
DO(printf ("%d BODIES, %d JOINTS\n",nb,nj));
}
}
if (nj > 0 && nb > 2 && dRandReal() > 0.5) {
dBodyID b1 = body [dRand() % nb];
dBodyID b2 = body [dRand() % nb];
if (b1 != b2) {
int k = dRand() % nj;
DO(printf ("reattaching joint %p\n",joint[k]));
dJointAttach (joint[k],b1,b2);
checkWorld (w);
DO(printf ("%d BODIES, %d JOINTS\n",nb,nj));
}
}
if (nb > 0 && dRandReal() > 0.5) {
int k = dRand() % nb;
DO(printf ("destroying body %p\n",body[k]));
dBodyDestroy (body[k]);
checkWorld (w);
for (; k < (NUM-1); k++) body[k] = body[k+1];
nb--;
DO(printf ("%d BODIES, %d JOINTS\n",nb,nj));
}
if (nj > 0 && dRandReal() > 0.5) {
int k = dRand() % nj;
DO(printf ("destroying joint %p\n",joint[k]));
dJointDestroy (joint[k]);
checkWorld (w);
for (; k < (NUM-1); k++) joint[k] = joint[k+1];
nj--;
DO(printf ("%d BODIES, %d JOINTS\n",nb,nj));
}
}
/*
printf ("creating world\n");
dWorldID w = dWorldCreate();
checkWorld (w);
printf ("creating body\n");
dBodyID b1 = dBodyCreate (w);
checkWorld (w);
printf ("creating body\n");
dBodyID b2 = dBodyCreate (w);
checkWorld (w);
printf ("creating joint\n");
dJointID j = dJointCreateBall (w);
checkWorld (w);
printf ("attaching joint\n");
dJointAttach (j,b1,b2);
checkWorld (w);
printf ("destroying joint\n");
dJointDestroy (j);
checkWorld (w);
printf ("destroying body\n");
dBodyDestroy (b1);
checkWorld (w);
printf ("destroying body\n");
dBodyDestroy (b2);
checkWorld (w);
printf ("destroying world\n");
dWorldDestroy (w);
*/
}
//****************************************************************************
// configuration
#if 1
#define REGISTER_EXTENSION( __a ) #__a " "
#else
#define REGISTER_EXTENSION( __a ) "__a "
#endif
static const char ode_configuration[] = "ODE "
// EXTENSION LIST BEGIN
//**********************************
#ifdef dNODEBUG
REGISTER_EXTENSION( ODE_EXT_no_debug )
#endif // dNODEBUG
#if dTRIMESH_ENABLED
REGISTER_EXTENSION( ODE_EXT_trimesh )
// tri-mesh extensions
#if dTRIMESH_OPCODE
REGISTER_EXTENSION( ODE_EXT_opcode )
// opcode extensions
#if dTRIMESH_16BIT_INDICES
REGISTER_EXTENSION( ODE_OPC_16bit_indices )
#endif
#if !dTRIMESH_OPCODE_USE_OLD_TRIMESH_TRIMESH_COLLIDER
REGISTER_EXTENSION( ODE_OPC_new_collider )
#endif
#endif // dTRIMESH_OPCODE
#if dTRIMESH_GIMPACT
REGISTER_EXTENSION( ODE_EXT_gimpact )
// gimpact extensions
#endif
#endif // dTRIMESH_ENABLED
#if dTLS_ENABLED
REGISTER_EXTENSION( ODE_EXT_mt_collisions )
#endif // dTLS_ENABLED
#if !dTHREADING_INTF_DISABLED
REGISTER_EXTENSION( ODE_EXT_threading )
#if dBUILTIN_THREADING_IMPL_ENABLED
REGISTER_EXTENSION( ODE_THR_builtin_impl )
#endif // #if dBUILTIN_THREADING_IMPL_ENABLED
#endif // #if !dTHREADING_INTF_DISABLED
//**********************************
// EXTENSION LIST END
// These tokens are mutually exclusive, and always present
#ifdef dSINGLE
"ODE_single_precision"
#else
"ODE_double_precision"
#endif // dDOUBLE
; // END
const char* dGetConfiguration (void)
{
return ode_configuration;
}
// Helper to check for a feature of ODE
int dCheckConfiguration( const char* extension )
{
const char *start;
char *where, *terminator;
/* Feature names should not have spaces. */
where = (char*)strchr(extension, ' ');
if ( where || *extension == '\0')
return 1;
const char* config = dGetConfiguration();
const sizeint ext_length = strlen(extension);
/* It takes a bit of care to be fool-proof. Don't be fooled by sub-strings, etc. */
start = config;
for ( ; ; )
{
where = (char*)strstr((const char *) start, extension);
if (!where)
break;
terminator = where + ext_length;
if ( (where == start || *(where - 1) == ' ') &&
(*terminator == ' ' || *terminator == '\0') )
{
return 1;
}
start = terminator;
}
return 0;
}
// Local Variables:
// c-basic-offset:4
// End:
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