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[Ogreaddons-svnmail] SF.net SVN: ogreaddons:[2666] branches/ogrenewt/newton20
|
From: <me...@us...> - 2009-03-17 13:41:54
|
Revision: 2666
http://ogreaddons.svn.sourceforge.net/ogreaddons/?rev=2666&view=rev
Author: melven2
Date: 2009-03-17 13:41:37 +0000 (Tue, 17 Mar 2009)
Log Message:
-----------
-fixed some vc project files
-fixed typo (was World::CollisionUpdate() instead of World::collisionUpdate() )
-only include necessary ogre-headers
-replaced tabs by whitespaces
Modified Paths:
--------------
branches/ogrenewt/newton20/Mac/OgreNewt.xcodeproj/project.pbxproj
branches/ogrenewt/newton20/OgreNewt.vcproj
branches/ogrenewt/newton20/OgreNewt_vc2008.vcproj
branches/ogrenewt/newton20/inc/OgreNewt.h
branches/ogrenewt/newton20/inc/OgreNewt_BasicFrameListener.h
branches/ogrenewt/newton20/inc/OgreNewt_BasicJoints.h
branches/ogrenewt/newton20/inc/OgreNewt_Body.h
branches/ogrenewt/newton20/inc/OgreNewt_BodyInAABBIterator.h
branches/ogrenewt/newton20/inc/OgreNewt_Collision.h
branches/ogrenewt/newton20/inc/OgreNewt_CollisionPrimitives.h
branches/ogrenewt/newton20/inc/OgreNewt_CollisionSerializer.h
branches/ogrenewt/newton20/inc/OgreNewt_ContactCallback.h
branches/ogrenewt/newton20/inc/OgreNewt_ContactJoint.h
branches/ogrenewt/newton20/inc/OgreNewt_Debugger.h
branches/ogrenewt/newton20/inc/OgreNewt_Joint.h
branches/ogrenewt/newton20/inc/OgreNewt_MaterialID.h
branches/ogrenewt/newton20/inc/OgreNewt_MaterialPair.h
branches/ogrenewt/newton20/inc/OgreNewt_PlayerController.h
branches/ogrenewt/newton20/inc/OgreNewt_Prerequisites.h
branches/ogrenewt/newton20/inc/OgreNewt_RayCast.h
branches/ogrenewt/newton20/inc/OgreNewt_Tools.h
branches/ogrenewt/newton20/inc/OgreNewt_Vehicle.h
branches/ogrenewt/newton20/inc/OgreNewt_World.h
branches/ogrenewt/newton20/src/OgreNewt_BasicFrameListener.cpp
branches/ogrenewt/newton20/src/OgreNewt_BasicJoints.cpp
branches/ogrenewt/newton20/src/OgreNewt_Body.cpp
branches/ogrenewt/newton20/src/OgreNewt_Collision.cpp
branches/ogrenewt/newton20/src/OgreNewt_CollisionPrimitives.cpp
branches/ogrenewt/newton20/src/OgreNewt_CollisionSerializer.cpp
branches/ogrenewt/newton20/src/OgreNewt_ContactJoint.cpp
branches/ogrenewt/newton20/src/OgreNewt_Debugger.cpp
branches/ogrenewt/newton20/src/OgreNewt_Joint.cpp
branches/ogrenewt/newton20/src/OgreNewt_MaterialID.cpp
branches/ogrenewt/newton20/src/OgreNewt_MaterialPair.cpp
branches/ogrenewt/newton20/src/OgreNewt_PlayerController.cpp
branches/ogrenewt/newton20/src/OgreNewt_RayCast.cpp
branches/ogrenewt/newton20/src/OgreNewt_Tools.cpp
branches/ogrenewt/newton20/src/OgreNewt_Vehicle.cpp
branches/ogrenewt/newton20/src/OgreNewt_World.cpp
Modified: branches/ogrenewt/newton20/Mac/OgreNewt.xcodeproj/project.pbxproj
===================================================================
--- branches/ogrenewt/newton20/Mac/OgreNewt.xcodeproj/project.pbxproj 2009-03-09 20:18:50 UTC (rev 2665)
+++ branches/ogrenewt/newton20/Mac/OgreNewt.xcodeproj/project.pbxproj 2009-03-17 13:41:37 UTC (rev 2666)
@@ -9,25 +9,25 @@
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@@ -49,6 +49,18 @@
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/* End PBXBuildFile section */
+/* Begin PBXCopyFilesBuildPhase section */
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+ dstSubfolderSpec = 10;
+ files = (
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+/* End PBXCopyFilesBuildPhase section */
+
/* Begin PBXFileReference section */
089C1667FE841158C02AAC07 /* English */ = {isa = PBXFileReference; fileEncoding = 10; lastKnownFileType = text.plist.strings; name = English; path = English.lproj/InfoPlist.strings; sourceTree = "<group>"; };
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@@ -198,25 +210,25 @@
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@@ -232,6 +244,7 @@
8D07F2C10486CC7A007CD1D0 /* Sources */,
8D07F2C30486CC7A007CD1D0 /* Frameworks */,
8D07F2C50486CC7A007CD1D0 /* Rez */,
+ 4833699F0F65C516005979BF /* CopyFiles */,
);
buildRules = (
);
Modified: branches/ogrenewt/newton20/OgreNewt.vcproj
===================================================================
--- branches/ogrenewt/newton20/OgreNewt.vcproj 2009-03-09 20:18:50 UTC (rev 2665)
+++ branches/ogrenewt/newton20/OgreNewt.vcproj 2009-03-17 13:41:37 UTC (rev 2666)
@@ -55,6 +55,7 @@
AdditionalIncludeDirectories=".\inc;..\NewtonSDK\sdk;..\ogrenew\OgreMain\include;..\boost\include"
PreprocessorDefinitions="_OGRENEWT_EXPORTS;_OGRENEWT_DYNAMIC"
ExceptionHandling="1"
+ RuntimeLibrary="3"
RuntimeTypeInfo="true"
AssemblerListingLocation="Debug"
ObjectFile="$(IntDir)\"
Modified: branches/ogrenewt/newton20/OgreNewt_vc2008.vcproj
===================================================================
--- branches/ogrenewt/newton20/OgreNewt_vc2008.vcproj 2009-03-09 20:18:50 UTC (rev 2665)
+++ branches/ogrenewt/newton20/OgreNewt_vc2008.vcproj 2009-03-17 13:41:37 UTC (rev 2666)
@@ -53,9 +53,11 @@
<Tool
Name="VCCLCompilerTool"
AdditionalOptions=" /Zm1000"
+ Optimization="0"
AdditionalIncludeDirectories=".\inc;..\NewtonSDK\sdk;..\ogrenew\OgreMain\include;..\boost\include"
PreprocessorDefinitions="_OGRENEWT_EXPORTS;_OGRENEWT_DYNAMIC"
ExceptionHandling="1"
+ RuntimeLibrary="3"
RuntimeTypeInfo="true"
AssemblerListingLocation="Debug"
ObjectFile="$(IntDir)\"
Modified: branches/ogrenewt/newton20/inc/OgreNewt.h
===================================================================
--- branches/ogrenewt/newton20/inc/OgreNewt.h 2009-03-09 20:18:50 UTC (rev 2665)
+++ branches/ogrenewt/newton20/inc/OgreNewt.h 2009-03-17 13:41:37 UTC (rev 2666)
@@ -1,18 +1,19 @@
/*
- OgreNewt library
+ OgreNewt library
- connects Ogre with the Newton Game Dynamics physics library
+ connects Ogre with the Newton Game Dynamics physics library
- by Walaber (http://walaber.com)
+ by Walaber (http://walaber.com)
+ some changes by melven
- main header file.
+ main header file.
- current version: 2.00 ( I only raised the version number to indicate that this is for Newton2.0! )
+ current version: 2.00 ( I only raised the version number to indicate that this is for Newton2.0! )
- Newton version: 2.0 beta (31.01.2009)
+ Newton version: 2.0 beta (31.01.2009)
- Ogre version: Shoggoth (1.6.x)
+ Ogre version: Shoggoth (1.6.x)
*/
@@ -42,16 +43,16 @@
/*! \mainpage OgreNewt Library version 2.00
- \section into_sec Introduction
+ \section into_sec Introduction
- OgreNewt is an OOP wrapper for integrating the Newton Dynamics Physics SDK with OGRE.
+ OgreNewt is an OOP wrapper for integrating the Newton Dynamics Physics SDK with OGRE.
\section problems Problems and missing features in this version
Problems and missing features in this version
- PlayerController not finished
- the convexcast seems to have difficulties with more than one contact (I've segfault when debugging it with the OgreNewt::Debugger...)
- I added a hack, it only creates one contact at the maximum at the moment!
+ I added a hack, it only creates one contact at the maximum at the moment! <-- this is probably due to an error in newton
- this library supports the newton functions for multithreading but there are several functions/classes in this
library itself, that are not thread safe (I don't need multiple threads)
especially the world-updates are not threadsafe in ogre (see newton forum, someone posted a solution there!)
@@ -60,12 +61,12 @@
- I didn't test several features:
- vehicle
- joints
- - collsions-serializer
+ - collision-serializer
- treecollision raycastcallback
- shared pointers for collisions (atm CollisionPtr := Collision*, but should be Ogre::SharedPtr<Collision>, but there was some problem...)
- \section new New in this version
+ \section new New in this version
New in this version
- this version uses cmake > 2.6.2!
@@ -86,77 +87,77 @@
- a lot of minor changes and functions added and renamed
- previous changes...
- - updated to Newton version 2.0!! Many big improvements and changes to the library, and OgreNewt now supports it.
- - several interface-breaking changes:
- - updated to support multithreading support now native to Newton.
- - MomentOfInertia namespace and helper functions removed entirely. Newton can now calculate inertia and center of
- mass automatically, use ConvexCollision::calculateInertialMatrix, and multiply by objects Mass.
- - Body::attachToNode has been renamed to attachNode, better implying the relationship between the body and the Ogre::Node.
- - BodyIterator class has been upgraded to use boost::function, allowing the same callback flexibility as other callbacks.
+ previous changes...
+ - updated to Newton version 2.0!! Many big improvements and changes to the library, and OgreNewt now supports it.
+ - several interface-breaking changes:
+ - updated to support multithreading support now native to Newton.
+ - MomentOfInertia namespace and helper functions removed entirely. Newton can now calculate inertia and center of
+ mass automatically, use ConvexCollision::calculateInertialMatrix, and multiply by objects Mass.
+ - Body::attachToNode has been renamed to attachNode, better implying the relationship between the body and the Ogre::Node.
+ - BodyIterator class has been upgraded to use boost::function, allowing the same callback flexibility as other callbacks.
- - bug fix - fixed problem with TreeCollisionSceneParser that wasn't adjusting to different scales properly.
- - optimization - fixed several classes to only write debug data to the LOG when compiled in DEBUG mode:
- - Custom2DJonit
- - BasicFrameListener
- - added the concept of "face-winding" to all TreeCollision classes. should not cause any breaking changes to code, but allows more flexibility to change the "direction" of a face in treecollisions.
- - OgreNewt and it's demos are now fully compatible with Ogre 1.4.x (Eihort).
- - Addition of script files for compiling under linux (Scons)
- - slight modification to the ContactCallback class to allow access to Newton structures from the outside.
- - some cosmetic changes to make the wrapper compile more easily under Linux and other non-windows platforms.
- - updated to work with the release version of Ogre dagon (1.2)
- - updated to work with version 1.53 of Newton
- - raycast now has an optional pre-filter to ignore specific bodies from the raycast.
- - various other clean-up!
- - moved callback system to much more OOP-friendly "boost::function" system. callbacks can now be instance-specific member functions!
- - several other small fixes to project files, etc.
- - automatic convex hull generation system added to supplementary ragdoll class (see demo08).
- - documentation updated.
- - updated to Newton version 1.5
- - added this documentation!
- - added buoyancy functionality.
- - New Buoyancy demo.
- - New Ragdoll demo, using a seperate class to implement ragdoll functionality.
- - added basic classes for CustomJoints, and a simple demo showing how they work.
- - added several prebuilt custom joints, including pulleys and gears, and a general 2D joint.
- - added calculateInertialMatrix to ConvexCollision class.
- - added set/getCenterOfMass to Body class
- - changed angle-related functions in BasicJoint classes to use Ogre::Radian instead of Ogre::Real.
- - added ConvexModifierCollision class, which allows for arbitrarily scaled collision primitives.
- - added several low-level collision functions, see the CollisionTools namespace.
- - fixed errors causing run-time crash on Slider and Universal joints.
- - added LeaveWorldCallback functionality to World class.
+ - bug fix - fixed problem with TreeCollisionSceneParser that wasn't adjusting to different scales properly.
+ - optimization - fixed several classes to only write debug data to the LOG when compiled in DEBUG mode:
+ - Custom2DJonit
+ - BasicFrameListener
+ - added the concept of "face-winding" to all TreeCollision classes. should not cause any breaking changes to code, but allows more flexibility to change the "direction" of a face in treecollisions.
+ - OgreNewt and it's demos are now fully compatible with Ogre 1.4.x (Eihort).
+ - Addition of script files for compiling under linux (Scons)
+ - slight modification to the ContactCallback class to allow access to Newton structures from the outside.
+ - some cosmetic changes to make the wrapper compile more easily under Linux and other non-windows platforms.
+ - updated to work with the release version of Ogre dagon (1.2)
+ - updated to work with version 1.53 of Newton
+ - raycast now has an optional pre-filter to ignore specific bodies from the raycast.
+ - various other clean-up!
+ - moved callback system to much more OOP-friendly "boost::function" system. callbacks can now be instance-specific member functions!
+ - several other small fixes to project files, etc.
+ - automatic convex hull generation system added to supplementary ragdoll class (see demo08).
+ - documentation updated.
+ - updated to Newton version 1.5
+ - added this documentation!
+ - added buoyancy functionality.
+ - New Buoyancy demo.
+ - New Ragdoll demo, using a seperate class to implement ragdoll functionality.
+ - added basic classes for CustomJoints, and a simple demo showing how they work.
+ - added several prebuilt custom joints, including pulleys and gears, and a general 2D joint.
+ - added calculateInertialMatrix to ConvexCollision class.
+ - added set/getCenterOfMass to Body class
+ - changed angle-related functions in BasicJoint classes to use Ogre::Radian instead of Ogre::Real.
+ - added ConvexModifierCollision class, which allows for arbitrarily scaled collision primitives.
+ - added several low-level collision functions, see the CollisionTools namespace.
+ - fixed errors causing run-time crash on Slider and Universal joints.
+ - added LeaveWorldCallback functionality to World class.
- \section install Installation
+ \section install Installation
- OgreNewt comes with a project for MSVC++ 7.1 and MSVC++ 8.0 (2005). unfortunately I have no other IDE's or compilers setup on my system, so I
- cannot provide any other projects. the MSVC solution should build out of the box, assuming you take a few things into
- consideration.
+ OgreNewt comes with a project for MSVC++ 7.1 and MSVC++ 8.0 (2005). unfortunately I have no other IDE's or compilers setup on my system, so I
+ cannot provide any other projects. the MSVC solution should build out of the box, assuming you take a few things into
+ consideration.
- unzip this in the ogreaddons directory alongside your "ogrenew" directory. to compile correctly, it also assumes you have the Newton SDK installed in another
- directory alongside this one called "NewtonSDK".
+ unzip this in the ogreaddons directory alongside your "ogrenew" directory. to compile correctly, it also assumes you have the Newton SDK installed in another
+ directory alongside this one called "NewtonSDK".
- for example something like this:
+ for example something like this:
- - c:/programming/Ogre/ogrenew <- ogre installation
- - c:/programming/Ogre/ogreaddons/OgreNewt <- OgreNewt main directory.
- - c:/programming/NewtonSDK <- Newton SDK.
- - c:/programming/tinyxml <- tinyxml library (needed for ragdoll demo only)
+ - c:/programming/Ogre/ogrenew <- ogre installation
+ - c:/programming/Ogre/ogreaddons/OgreNewt <- OgreNewt main directory.
+ - c:/programming/NewtonSDK <- Newton SDK.
+ - c:/programming/tinyxml <- tinyxml library (needed for ragdoll demo only)
- \section compiling Compiling
+ \section compiling Compiling
- OgreNewt compiles by default to a static library for linking to your project. However you can also compile OgreNewt into a dynamic DLL on the
- Windows platform by using the Debug_DLL and Release_DLL solution build configurations in the MSVC solutions.
+ OgreNewt compiles by default to a static library for linking to your project. However you can also compile OgreNewt into a dynamic DLL on the
+ Windows platform by using the Debug_DLL and Release_DLL solution build configurations in the MSVC solutions.
- \section license License
+ \section license License
- OgreNewt basically has no license, you may use any or all of the library however you desire... I hope it can help you in any way.
+ OgreNewt basically has no license, you may use any or all of the library however you desire... I hope it can help you in any way.
- well, that's about it!
- have fun!
+ well, that's about it!
+ have fun!
- -walaber
+ -walaber
*/
Modified: branches/ogrenewt/newton20/inc/OgreNewt_BasicFrameListener.h
===================================================================
--- branches/ogrenewt/newton20/inc/OgreNewt_BasicFrameListener.h 2009-03-09 20:18:50 UTC (rev 2665)
+++ branches/ogrenewt/newton20/inc/OgreNewt_BasicFrameListener.h 2009-03-17 13:41:37 UTC (rev 2666)
@@ -1,23 +1,24 @@
/*
- OgreNewt Library
+ OgreNewt Library
- Ogre implementation of Newton Game Dynamics SDK
+ Ogre implementation of Newton Game Dynamics SDK
- OgreNewt basically has no license, you may use any or all of the library however you desire... I hope it can help you in any way.
+ OgreNewt basically has no license, you may use any or all of the library however you desire... I hope it can help you in any way.
- by Walaber
+ by Walaber
+ some changes by melven
- "BasicFrameListener"
+ "BasicFrameListener"
- this is a simple Ogre FrameListener that will update the Newton world you supply it
- with, at a desired framerate, using a simple time-slicer. this means the simulation
- should run at the same speed regardless of the actual framerate. set the update_framerate
- to a higher value for a more accurate simluation.
+ this is a simple Ogre FrameListener that will update the Newton world you supply it
+ with, at a desired framerate, using a simple time-slicer. this means the simulation
+ should run at the same speed regardless of the actual framerate. set the update_framerate
+ to a higher value for a more accurate simluation.
- NOTE: update_framerate must be a value between [60,600]
+ NOTE: update_framerate must be a value between [60,600]
*/
#ifndef _INCLUDE_OGRENEWT_BASICFRAMELISTENER
@@ -25,7 +26,7 @@
#include "OgreNewt_Prerequisites.h"
-// using OIS (an Ogre 1.4.x dependency) for input.
+// using OIS (an Ogre dependency) for input.
#define OIS_DYNAMIC_LIB
#include <OIS/OIS.h>
@@ -37,34 +38,34 @@
//! simple frame listener to update the physics.
/*!
- updates the Newton World at the specified rate, with time-slicing, and
- also implements a simple debug view, press F3 to render Newto world with lines in 3D view.
+ updates the Newton World at the specified rate, with time-slicing, and
+ also implements a simple debug view, press F3 to render Newto world with lines in 3D view.
*/
- class _OgreNewtExport BasicFrameListener : public Ogre::FrameListener
+ class _OgreNewtExport BasicFrameListener : public Ogre::FrameListener
{
protected:
- OgreNewt::World* m_World;
+ OgreNewt::World* m_World;
- int desired_framerate;
- Ogre::Real m_update, m_elapsed;
+ int desired_framerate;
+ Ogre::Real m_update, m_elapsed;
public:
- BasicFrameListener(Ogre::RenderWindow* win, Ogre::SceneManager* mgr, OgreNewt::World* W, int update_framerate = 60);
- ~BasicFrameListener(void);
+ BasicFrameListener(Ogre::RenderWindow* win, Ogre::SceneManager* mgr, OgreNewt::World* W, int update_framerate = 60);
+ ~BasicFrameListener(void);
- bool frameStarted(const Ogre::FrameEvent &evt);
+ bool frameStarted(const Ogre::FrameEvent &evt);
private:
- OIS::InputManager* mInputManager;
- OIS::Keyboard* mKeyboard;
+ OIS::InputManager* mInputManager;
+ OIS::Keyboard* mKeyboard;
};
-} // end NAMESPACE OgreNewt
+} // end NAMESPACE OgreNewt
#endif /* _INCLUDE_OGRENEWT_BASICFRAMELISTENER */
Modified: branches/ogrenewt/newton20/inc/OgreNewt_BasicJoints.h
===================================================================
--- branches/ogrenewt/newton20/inc/OgreNewt_BasicJoints.h 2009-03-09 20:18:50 UTC (rev 2665)
+++ branches/ogrenewt/newton20/inc/OgreNewt_BasicJoints.h 2009-03-17 13:41:37 UTC (rev 2666)
@@ -1,11 +1,12 @@
/*
- OgreNewt Library
+ OgreNewt Library
- Ogre implementation of Newton Game Dynamics SDK
+ Ogre implementation of Newton Game Dynamics SDK
- OgreNewt basically has no license, you may use any or all of the library however you desire... I hope it can help you in any way.
+ OgreNewt basically has no license, you may use any or all of the library however you desire... I hope it can help you in any way.
- by Walaber
+ by Walaber
+ some changes by melven
*/
#ifndef _INCLUDE_OGRENEWT_BASICJOINTS
@@ -25,49 +26,49 @@
//! Ball and Socket joint.
/*!
- simple ball and socket joint, with limits.
+ simple ball and socket joint, with limits.
*/
class _OgreNewtExport BallAndSocket : public Joint
{
public:
- //! custom ballandsocket callback function.
- /*!
- use the setCallback() function to assign your custom function to the joint.
- */
- typedef void(*BallAndSocketCallback)( BallAndSocket* me, Ogre::Real timestep );
+ //! custom ballandsocket callback function.
+ /*!
+ use the setCallback() function to assign your custom function to the joint.
+ */
+ typedef void(*BallAndSocketCallback)( BallAndSocket* me, Ogre::Real timestep );
- //! constructor
- /*!
- \param world pointer to the OgreNewt::World
- \param child pointer to the child rigid body.
- \param parent pointer to the parent rigid body. pass NULL to make the world itself the parent (aka a rigid joint)
- \param pos position of the joint in global space
- */
- BallAndSocket( const World* world, const OgreNewt::Body* child, const OgreNewt::Body* parent, const Ogre::Vector3& pos );
-
- //! destructor.
- ~BallAndSocket();
+ //! constructor
+ /*!
+ \param world pointer to the OgreNewt::World
+ \param child pointer to the child rigid body.
+ \param parent pointer to the parent rigid body. pass NULL to make the world itself the parent (aka a rigid joint)
+ \param pos position of the joint in global space
+ */
+ BallAndSocket( const World* world, const OgreNewt::Body* child, const OgreNewt::Body* parent, const Ogre::Vector3& pos );
+
+ //! destructor.
+ ~BallAndSocket();
- //! retrieve the current joint angle
- Ogre::Vector3 getJointAngle() const;
+ //! retrieve the current joint angle
+ Ogre::Vector3 getJointAngle() const;
- //! retrieve the current joint omega
- Ogre::Vector3 getJointOmega() const;
+ //! retrieve the current joint omega
+ Ogre::Vector3 getJointOmega() const;
- //! retrieve the current joint force.
- /*!
- This can be used to find the "stress" on the joint. you can do special effects like break the joint if the force exceedes some value, etc.
- */
- Ogre::Vector3 getJointForce() const;
+ //! retrieve the current joint force.
+ /*!
+ This can be used to find the "stress" on the joint. you can do special effects like break the joint if the force exceedes some value, etc.
+ */
+ Ogre::Vector3 getJointForce() const;
- //! set limits for the joints rotation
- /*!
- \param pin pin direction in global space
- \param maxCone max angle for "swing" (in radians)
- \param maxTwist max angle for "twist" (in radians)
- */
- void setLimits( const Ogre::Vector3& pin, Ogre::Radian maxCone, Ogre::Radian maxTwist ) const { NewtonBallSetConeLimits( m_joint, &pin.x, (float)maxCone.valueRadians(), (float)maxTwist.valueRadians() ); }
+ //! set limits for the joints rotation
+ /*!
+ \param pin pin direction in global space
+ \param maxCone max angle for "swing" (in radians)
+ \param maxTwist max angle for "twist" (in radians)
+ */
+ void setLimits( const Ogre::Vector3& pin, Ogre::Radian maxCone, Ogre::Radian maxTwist ) const { NewtonBallSetConeLimits( m_joint, &pin.x, (float)maxCone.valueRadians(), (float)maxTwist.valueRadians() ); }
//! set callback function
void setCallback(BallAndSocketCallback *callback) {m_callback = callback;}
@@ -84,423 +85,415 @@
//! hinge joint.
/*!
- simple hinge joint. implement motors/limits through a callback.
+ simple hinge joint. implement motors/limits through a callback.
*/
class _OgreNewtExport Hinge : public Joint
{
public:
- //! custom hinge callback function.
- /*!
- use the setCallback() function to assign your custom function to the joint.
- */
- typedef void(*HingeCallback)( Hinge* me );
+ //! custom hinge callback function.
+ /*!
+ use the setCallback() function to assign your custom function to the joint.
+ */
+ typedef void(*HingeCallback)( Hinge* me );
- //! constructor
- /*!
- \param world pointer to the OgreNewt::World
- \param child pointer to the child rigid body.
- \param parent pointer to the parent rigid body. pass NULL to make the world itself the parent (aka a rigid joint)
- \param pin direction of the joint pin in global space
- */
- Hinge( const World* world, const OgreNewt::Body* child, const OgreNewt::Body* parent, const Ogre::Vector3& pos, const Ogre::Vector3& pin );
+ //! constructor
+ /*!
+ \param world pointer to the OgreNewt::World
+ \param child pointer to the child rigid body.
+ \param parent pointer to the parent rigid body. pass NULL to make the world itself the parent (aka a rigid joint)
+ \param pin direction of the joint pin in global space
+ */
+ Hinge( const World* world, const OgreNewt::Body* child, const OgreNewt::Body* parent, const Ogre::Vector3& pos, const Ogre::Vector3& pin );
- //! destructor
- ~Hinge();
+ //! destructor
+ ~Hinge();
- //! retrieve the angle around the pin.
- Ogre::Radian getJointAngle() const { return Ogre::Radian(NewtonHingeGetJointAngle( m_joint )); }
+ //! retrieve the angle around the pin.
+ Ogre::Radian getJointAngle() const { return Ogre::Radian(NewtonHingeGetJointAngle( m_joint )); }
- //! retrieve the rotational velocity around the pin.
- Ogre::Real getJointOmega() const { return (Ogre::Real)NewtonHingeGetJointOmega( m_joint ); }
+ //! retrieve the rotational velocity around the pin.
+ Ogre::Real getJointOmega() const { return (Ogre::Real)NewtonHingeGetJointOmega( m_joint ); }
- //! get the force on the joint.
- Ogre::Vector3 getJointForce() const;
+ //! get the force on the joint.
+ Ogre::Vector3 getJointForce() const;
- //! set a custom callback for controlling this joint.
- /*!
- Joint callbacks allow you to make complex joint behavior such as limits or motors. just make a custom static function that
- accepts a pointer to a OgreNewt::BasicJoints::Hinge as the single parameter. this function will be called automatically every
- time you upate the World.
- */
- void setCallback( HingeCallback callback ) { m_callback = callback; }
+ //! set a custom callback for controlling this joint.
+ /*!
+ Joint callbacks allow you to make complex joint behavior such as limits or motors. just make a custom static function that
+ accepts a pointer to a OgreNewt::BasicJoints::Hinge as the single parameter. this function will be called automatically every
+ time you upate the World.
+ */
+ void setCallback( HingeCallback callback ) { m_callback = callback; }
- ////////// CALLBACK COMMANDS ///////////
- // the following commands are only valid from inside a hinge callback function
+ ////////// CALLBACK COMMANDS ///////////
+ // the following commands are only valid from inside a hinge callback function
- //! set acceleration around the joint pin
- /*!
- This command is only valid when used inside a custom Hinge callback.
- */
- void setCallbackAccel( Ogre::Real accel );
+ //! set acceleration around the joint pin
+ /*!
+ This command is only valid when used inside a custom Hinge callback.
+ */
+ void setCallbackAccel( Ogre::Real accel );
- //! set minimum joint friction.
- /*!
- This command is only valid when used inside a custom Hinge callback.
- */
- void setCallbackFrictionMin( Ogre::Real min );
+ //! set minimum joint friction.
+ /*!
+ This command is only valid when used inside a custom Hinge callback.
+ */
+ void setCallbackFrictionMin( Ogre::Real min );
- //! set maximum joint friction
- /*!
- This command is only valid when used inside a custom Hinge callback.
- */
- void setCallbackFrictionMax( Ogre::Real max );
+ //! set maximum joint friction
+ /*!
+ This command is only valid when used inside a custom Hinge callback.
+ */
+ void setCallbackFrictionMax( Ogre::Real max );
- //! get the current physics timestep.
- /*!
- This command is only valid when used inside a custom Hinge callback.
- */
- Ogre::Real getCallbackTimestep() const;
+ //! get the current physics timestep.
+ /*!
+ This command is only valid when used inside a custom Hinge callback.
+ */
+ Ogre::Real getCallbackTimestep() const;
- //! calculate the acceleration neccesary to stop the joint at the specified angle.
- /*!
- For implementing joint limits.
- This command is only valid when used inside a custom Hinge callback.
- */
- Ogre::Real calculateStopAlpha( Ogre::Radian angle ) const;
+ //! calculate the acceleration neccesary to stop the joint at the specified angle.
+ /*!
+ For implementing joint limits.
+ This command is only valid when used inside a custom Hinge callback.
+ */
+ Ogre::Real calculateStopAlpha( Ogre::Radian angle ) const;
protected:
- //! newton callback, used internally.
- static unsigned _CDECL newtonCallback( const NewtonJoint* hinge, NewtonHingeSliderUpdateDesc* desc );
+ //! newton callback, used internally.
+ static unsigned _CDECL newtonCallback( const NewtonJoint* hinge, NewtonHingeSliderUpdateDesc* desc );
- HingeCallback m_callback;
- NewtonHingeSliderUpdateDesc* m_desc;
+ HingeCallback m_callback;
+ NewtonHingeSliderUpdateDesc* m_desc;
- unsigned m_retval;
-
-
+ unsigned m_retval;
};
//! slider joint.
/*!
- simple slider joint. implement motors/limits through a callback.
+ simple slider joint. implement motors/limits through a callback.
*/
class _OgreNewtExport Slider : public Joint
{
public:
- //! custom slider callback function.
- /*!
- use the setCallback() function to assign your custom function to the joint.
- */
- typedef void(*SliderCallback)( Slider* me );
+ //! custom slider callback function.
+ /*!
+ use the setCallback() function to assign your custom function to the joint.
+ */
+ typedef void(*SliderCallback)( Slider* me );
- //! constructor
- /*!
- \param world pointer to the OgreNewt::World
- \param child pointer to the child rigid body.
- \param parent pointer to the parent rigid body. pass NULL to make the world itself the parent (aka a rigid joint)
- \param pin direction of the joint pin in global space
- */
- Slider( const World* world, const OgreNewt::Body* child, const OgreNewt::Body* parent, const Ogre::Vector3& pos, const Ogre::Vector3& pin );
+ //! constructor
+ /*!
+ \param world pointer to the OgreNewt::World
+ \param child pointer to the child rigid body.
+ \param parent pointer to the parent rigid body. pass NULL to make the world itself the parent (aka a rigid joint)
+ \param pin direction of the joint pin in global space
+ */
+ Slider( const World* world, const OgreNewt::Body* child, const OgreNewt::Body* parent, const Ogre::Vector3& pos, const Ogre::Vector3& pin );
- //! destructor.
- ~Slider();
+ //! destructor.
+ ~Slider();
- //! get position of child along the pin
- Ogre::Real getJointPosit() const { return (Ogre::Real)NewtonSliderGetJointPosit( m_joint ); }
+ //! get position of child along the pin
+ Ogre::Real getJointPosit() const { return (Ogre::Real)NewtonSliderGetJointPosit( m_joint ); }
- //! get rotational velocity along the pin
- Ogre::Real getJointVeloc() const { return (Ogre::Real)NewtonSliderGetJointVeloc( m_joint ); }
+ //! get rotational velocity along the pin
+ Ogre::Real getJointVeloc() const { return (Ogre::Real)NewtonSliderGetJointVeloc( m_joint ); }
- //! get force on the joint.
- Ogre::Vector3 getJointForce() const;
+ //! get force on the joint.
+ Ogre::Vector3 getJointForce() const;
- //! set a custom callback for controlling this joint.
- /*!
- Joint callbacks allow you to make complex joint behavior such as limits or motors. just make a custom static function that
- accepts a pointer to a OgreNewt::BasicJoints::Slider as the single parameter. this function will be called automatically every
- time you upate the World.
- */
- void setCallback( SliderCallback callback ) { m_callback = callback; }
+ //! set a custom callback for controlling this joint.
+ /*!
+ Joint callbacks allow you to make complex joint behavior such as limits or motors. just make a custom static function that
+ accepts a pointer to a OgreNewt::BasicJoints::Slider as the single parameter. this function will be called automatically every
+ time you upate the World.
+ */
+ void setCallback( SliderCallback callback ) { m_callback = callback; }
- ////////// CALLBACK COMMANDS ///////////
- // the following commands are only valid from inside a hinge callback function
+ ////////// CALLBACK COMMANDS ///////////
+ // the following commands are only valid from inside a hinge callback function
- //! set the acceleration along the pin.
- /*!
- This command is only valid when used inside a custom Slider callback.
- */
- void setCallbackAccel( Ogre::Real accel );
+ //! set the acceleration along the pin.
+ /*!
+ This command is only valid when used inside a custom Slider callback.
+ */
+ void setCallbackAccel( Ogre::Real accel );
- //! set minimum friction for the joint
- /*!
- This command is only valid when used inside a custom Slider callback.
- */
- void setCallbackFrictionMin( Ogre::Real min );
+ //! set minimum friction for the joint
+ /*!
+ This command is only valid when used inside a custom Slider callback.
+ */
+ void setCallbackFrictionMin( Ogre::Real min );
- //! set maximum friction for the joint.
- /*!
- This command is only valid when used inside a custom Slider callback.
- */
- void setCallbackFrictionMax( Ogre::Real max );
+ //! set maximum friction for the joint.
+ /*!
+ This command is only valid when used inside a custom Slider callback.
+ */
+ void setCallbackFrictionMax( Ogre::Real max );
- //! get current physics timestep.
- /*!
- This command is only valid when used inside a custom Slider callback.
- */
- Ogre::Real getCallbackTimestep() const;
+ //! get current physics timestep.
+ /*!
+ This command is only valid when used inside a custom Slider callback.
+ */
+ Ogre::Real getCallbackTimestep() const;
- //! calculate the acceleration neccesary to stop the joint at the specified distance.
- /*!
- For implementing joint limits.
- This command is only valid when used inside a custom Slider callback.
- */
- Ogre::Real calculateStopAccel( Ogre::Real dist ) const;
+ //! calculate the acceleration neccesary to stop the joint at the specified distance.
+ /*!
+ For implementing joint limits.
+ This command is only valid when used inside a custom Slider callback.
+ */
+ Ogre::Real calculateStopAccel( Ogre::Real dist ) const;
protected:
- //! newton callback. used internally.
- static unsigned _CDECL newtonCallback( const NewtonJoint* slider, NewtonHingeSliderUpdateDesc* desc );
+ //! newton callback. used internally.
+ static unsigned _CDECL newtonCallback( const NewtonJoint* slider, NewtonHingeSliderUpdateDesc* desc );
- SliderCallback m_callback;
- NewtonHingeSliderUpdateDesc* m_desc;
+ SliderCallback m_callback;
+ NewtonHingeSliderUpdateDesc* m_desc;
- unsigned m_retval;
-
+ unsigned m_retval;
};
-//! this class represents a Universal joint.
+//! this class represents a Universal joint.
/*!
- simple universal joint. implement motors/limits through a callback.
+ simple universal joint. implement motors/limits through a callback.
*/
class _OgreNewtExport Universal : public Joint
{
public:
-
- //! custom universal callback function.
- /*!
- use the setCallback() function to assign your custom function to the joint.
- */
- typedef void(*UniversalCallback)( Universal* me );
+
+ //! custom universal callback function.
+ /*!
+ use the setCallback() function to assign your custom function to the joint.
+ */
+ typedef void(*UniversalCallback)( Universal* me );
- //! constructor
- /*!
- \param world pointer to the OgreNewt::World
- \param child pointer to the child rigid body.
- \param parent pointer to the parent rigid body. pass NULL to make the world itself the parent (aka a rigid joint)
- \param pos position of the joint in global space
- \param pin0 direction of the first axis of rotation in global space
- \param pin1 direction of the second axis of rotation in global space
- */
- Universal( const World* world, const OgreNewt::Body* child, const OgreNewt::Body* parent, const Ogre::Vector3& pos, const Ogre::Vector3& pin0, const Ogre::Vector3& pin1 );
+ //! constructor
+ /*!
+ \param world pointer to the OgreNewt::World
+ \param child pointer to the child rigid body.
+ \param parent pointer to the parent rigid body. pass NULL to make the world itself the parent (aka a rigid joint)
+ \param pos position of the joint in global space
+ \param pin0 direction of the first axis of rotation in global space
+ \param pin1 direction of the second axis of rotation in global space
+ */
+ Universal( const World* world, const OgreNewt::Body* child, const OgreNewt::Body* parent, const Ogre::Vector3& pos, const Ogre::Vector3& pin0, const Ogre::Vector3& pin1 );
- //! destructor
- ~Universal();
+ //! destructor
+ ~Universal();
- //! get the angle around pin0.
- Ogre::Radian getJointAngle0() const { return Ogre::Radian(NewtonUniversalGetJointAngle0( m_joint )); }
+ //! get the angle around pin0.
+ Ogre::Radian getJointAngle0() const { return Ogre::Radian(NewtonUniversalGetJointAngle0( m_joint )); }
- //! get the angle around pin1.
- Ogre::Radian getJointAngle1() const { return Ogre::Radian(NewtonUniversalGetJointAngle1( m_joint )); }
+ //! get the angle around pin1.
+ Ogre::Radian getJointAngle1() const { return Ogre::Radian(NewtonUniversalGetJointAngle1( m_joint )); }
- //! get the rotational velocity around pin0.
- Ogre::Real getJointOmega0() const { return (Ogre::Real)NewtonUniversalGetJointOmega0( m_joint ); }
+ //! get the rotational velocity around pin0.
+ Ogre::Real getJointOmega0() const { return (Ogre::Real)NewtonUniversalGetJointOmega0( m_joint ); }
- //! get the rotational velocity around pin1.
- Ogre::Real getJointOmega1() const { return (Ogre::Real)NewtonUniversalGetJointOmega1( m_joint ); }
+ //! get the rotational velocity around pin1.
+ Ogre::Real getJointOmega1() const { return (Ogre::Real)NewtonUniversalGetJointOmega1( m_joint ); }
- //! get the force on the joint.
- Ogre::Vector3 getJointForce() const;
+ //! get the force on the joint.
+ Ogre::Vector3 getJointForce() const;
- //! set a custom callback for controlling this joint.
- /*!
- Joint callbacks allow you to make complex joint behavior such as limits or motors. just make a custom static function that
- accepts a pointer to a OgreNewt::BasicJoints::Universal as the single parameter. this function will be called automatically every
- time you upate the World.
- */
- void setCallback( UniversalCallback callback ) { m_callback = callback; }
+ //! set a custom callback for controlling this joint.
+ /*!
+ Joint callbacks allow you to make complex joint behavior such as limits or motors. just make a custom static function that
+ accepts a pointer to a OgreNewt::BasicJoints::Universal as the single parameter. this function will be called automatically every
+ time you upate the World.
+ */
+ void setCallback( UniversalCallback callback ) { m_callback = callback; }
- ////////// CALLBACK COMMANDS ///////////
- // the following commands are only valid from inside a hinge callback function
+ ////////// CALLBACK COMMANDS ///////////
+ // the following commands are only valid from inside a hinge callback function
- //! set the acceleration around a particular pin.
- /*
- this function can only be called from within a custom callback.
- \param accel desired acceleration
- \param axis which pin to use (0 or 1)
- */
- void setCallbackAccel( Ogre::Real accel, unsigned axis );
+ //! set the acceleration around a particular pin.
+ /*
+ this function can only be called from within a custom callback.
+ \param accel desired acceleration
+ \param axis which pin to use (0 or 1)
+ */
+ void setCallbackAccel( Ogre::Real accel, unsigned axis );
- //! set the minimum friction around a particular pin
- /*
- this function can only be called from within a custom callback.
- \param min minimum friction
- \param axis which pin to use (0 or 1)
- */
- void setCallbackFrictionMin( Ogre::Real min, unsigned axis );
+ //! set the minimum friction around a particular pin
+ /*
+ this function can only be called from within a custom callback.
+ \param min minimum friction
+ \param axis which pin to use (0 or 1)
+ */
+ void setCallbackFrictionMin( Ogre::Real min, unsigned axis );
- //! set the maximum friction around a particular pin.
- /*
- this function can only be called from within a custom callback.
- \param max maximum friction
- \param axis which pin to use (0 or 1)
- */
- void setCallbackFrictionMax( Ogre::Real max, unsigned axis );
+ //! set the maximum friction around a particular pin.
+ /*
+ this function can only be called from within a custom callback.
+ \param max maximum friction
+ \param axis which pin to use (0 or 1)
+ */
+ void setCallbackFrictionMax( Ogre::Real max, unsigned axis );
- //! get the current phsics timestep.
- /*
- this function can only be called from within a custom callback.
- */
- Ogre::Real getCallbackTimestep() const;
+ //! get the current phsics timestep.
+ /*
+ this function can only be called from within a custom callback.
+ */
+ Ogre::Real getCallbackTimestep() const;
- //! calculate the acceleration neccesary to stop the joint at the specified angle on pin 0.
- /*!
- For implementing joint limits.
- This command is only valid when used inside a custom callback.
- */
- Ogre::Real calculateStopAlpha0( Ogre::Real angle ) const;
+ //! calculate the acceleration neccesary to stop the joint at the specified angle on pin 0.
+ /*!
+ For implementing joint limits.
+ This command is only valid when used inside a custom callback.
+ */
+ Ogre::Real calculateStopAlpha0( Ogre::Real angle ) const;
- //! calculate the acceleration neccesary to stop the joint at the specified angle on pin 1.
- /*!
- For implementing joint limits.
- This command is only valid when used inside a custom callback.
- */
- Ogre::Real calculateStopAlpha1( Ogre::Real angle ) const;
+ //! calculate the acceleration neccesary to stop the joint at the specified angle on pin 1.
+ /*!
+ For implementing joint limits.
+ This command is only valid when used inside a custom callback.
+ */
+ Ogre::Real calculateStopAlpha1( Ogre::Real angle ) const;
protected:
-
- //! newton callback. used internally.
- static unsigned _CDECL newtonCallback( const NewtonJoint* universal, NewtonHingeSliderUpdateDesc* desc );
+
+ //! newton callback. used internally.
+ static unsigned _CDECL newtonCallback( const NewtonJoint* universal, NewtonHingeSliderUpdateDesc* desc );
- UniversalCallback m_callback;
- NewtonHingeSliderUpdateDesc* m_desc;
+ UniversalCallback m_callback;
+ NewtonHingeSliderUpdateDesc* m_desc;
- unsigned m_retval;
-
-
-
+ unsigned m_retval;
};
//! UpVector joint.
/*!
- simple upvector joint. upvectors remove all rotation except for a single pin. useful for character controllers, etc.
+ simple upvector joint. upvectors remove all rotation except for a single pin. useful for character controllers, etc.
*/
class _OgreNewtExport UpVector : public Joint
{
public:
- //! constructor
- /*
- \param world pointer to the OgreNewt::World.
- \param body pointer to the body to apply the upvector to.
- \param pin direction of the upvector in global space.
- */
- UpVector( const World* world, const Body* body, const Ogre::Vector3& pin );
+ //! constructor
+ /*
+ \param world pointer to the OgreNewt::World.
+ \param body pointer to the body to apply the upvector to.
+ \param pin direction of the upvector in global space.
+ */
+ UpVector( const World* world, const Body* body, const Ogre::Vector3& pin );
- //! destructor
- ~UpVector();
+ //! destructor
+ ~UpVector();
- //! set the pin direction.
- /*
- by calling this function in realtime, you can effectively "animate" the pin.
- */
- void setPin( const Ogre::Vector3& pin ) const { NewtonUpVectorSetPin( m_joint, &pin.x ); }
+ //! set the pin direction.
+ /*
+ by calling this function in realtime, you can effectively "animate" the pin.
+ */
+ void setPin( const Ogre::Vector3& pin ) const { NewtonUpVectorSetPin( m_joint, &pin.x ); }
- //! get the current pin direction.
- Ogre::Vector3 getPin() const;
-
-
+ //! get the current pin direction.
+ Ogre::Vector3 getPin() const;
};
-} // end NAMESPACE BasicJoints
+} // end NAMESPACE BasicJoints
//! namespace for pre-built custom joints
namespace PrebuiltCustomJoints
{
- //! Custom2DJoint class
- /*!
- This class represents a joint that limits movement to a plane, and rotation only around the normal of that
- plane. This can be used to create simple 2D simulations. it also supports limits and acceleration for spinning.
- This joint has been used in a few projects, but is not 100% fully-tested.
- */
- class _OgreNewtExport Custom2DJoint : public OgreNewt::CustomJoint
- {
- public:
- //! constructor
- Custom2DJoint( const OgreNewt::Body* body, const Ogre::Vector3& pin );
+ //! Custom2DJoint class
+ /*!
+ This class represents a joint that limits movement to a plane, and rotation only around the normal of that
+ plane. This can be used to create simple 2D simulations. it also supports limits and acceleration for spinning.
+ This joint has been used in a few projects, but is not 100% fully-tested.
+ */
+ class _OgreNewtExport Custom2DJoint : public OgreNewt::CustomJoint
+ {
+ public:
+ //! constructor
+ Custom2DJoint( const OgreNewt::Body* body, const Ogre::Vector3& pin );
- //! destructor
- ~Custom2DJoint() {}
+ //! destructor
+ ~Custom2DJoint() {}
- //! overloaded function that applies the actual constraint.
- void submitConstraint( Ogre::Real timeStep, int threadIndex );
+ //! overloaded function that applies the actual constraint.
+ void submitConstraint( Ogre::Real timeStep, int threadIndex );
- //! get the current angle of the joint.
- Ogre::Radian getAngle() const { return mAngle; }
+ //! get the current angle of the joint.
+ Ogre::Radian getAngle() const { return mAngle; }
- //! set rotational limits for the joint.
- void setLimits( Ogre::Degree min, Ogre::Degree max ) { mMin = min, mMax = max; }
-
- //! sets whether to enable limits or not for the joint.
- void setLimitsOn( bool onoff ) { mLimitsOn = onoff; }
+ //! set rotational limits for the joint.
+ void setLimits( Ogre::Degree min, Ogre::Degree max ) { mMin = min, mMax = max; }
+
+ //! sets whether to enable limits or not for the joint.
+ void setLimitsOn( bool onoff ) { mLimitsOn = onoff; }
- //! returns whether limits are turned on or off for the joint.
- bool getLimitsOn() const { return mLimitsOn; }
+ //! returns whether limits are turned on or off for the joint.
+ bool getLimitsOn() const { return mLimitsOn; }
- //! adds rotational acceleration to the joint (like a motor)
- void addAccel( Ogre::Real accel ) { mAccel = accel; }
+ //! adds rotational acceleration to the joint (like a motor)
+ void addAccel( Ogre::Real accel ) { mAccel = accel; }
- //! resets the joint angle to 0. this simply sets the internal variable to zero.
- //! you might want to call this for example after resetting a body.
- void resetAngle() { mAngle = Ogre::Radian(0.0f); }
+ //! resets the joint angle to 0. this simply sets the internal variable to zero.
+ //! you might want to call this for example after resetting a body.
+ void resetAngle() { mAngle = Ogre::Radian(0.0f); }
- //! get the pin.
- Ogre::Vector3 getPin() { return mPin; }
+ /...
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