Forgot to commit src files and Newton headers in previous commit
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Remi Beges
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/* Copyright (c) <2009> <Newton Game Dynamics>
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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*
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely
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*/
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#ifndef NEWTON_CUSTOM_JOINTS_H_INCLUDED_
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#define NEWTON_CUSTOM_JOINTS_H_INCLUDED_
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#include "Newton.h"
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//#include "CustomJointLibraryStdAfx.h"
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#ifdef _NEWTON_STATIC_LIB
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#define JOINTLIBRARY_API
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#else
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#ifdef JOINTLIBRARY_LIB
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#define JOINTLIBRARY_API
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#else
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#ifdef JOINTLIBRARY_EXPORTS
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#define JOINTLIBRARY_API __declspec(dllexport)
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#else
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#define JOINTLIBRARY_API __declspec(dllimport)
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#endif
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#endif
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#endif
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#ifdef __cplusplus
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extern "C" {
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#endif
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// Generic joint call back and user data
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typedef struct NewtonUserJoint{} NewtonUserJoint;
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typedef void (*NewtonUserJointDestructorCallback) (const NewtonUserJoint* me);
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typedef void (*NewtonUserJointSubmitConstraintCallback) (const NewtonUserJoint* me, dFloat timestep, int threadIndex);
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// generic joint functions
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JOINTLIBRARY_API void CustomDestroyJoint(const NewtonUserJoint *joint);
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JOINTLIBRARY_API NewtonJoint* CustomGetNewtonJoint (const NewtonUserJoint *joint);
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JOINTLIBRARY_API int CustomGetJointID (const NewtonUserJoint *joint);
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JOINTLIBRARY_API void CustomSetJointID (const NewtonUserJoint *joint, int rttI);
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JOINTLIBRARY_API const NewtonBody* CustomGetBody0 (const NewtonUserJoint *joint);
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JOINTLIBRARY_API const NewtonBody* CustomGetBody1 (const NewtonUserJoint *joint);
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JOINTLIBRARY_API int CustomGetBodiesCollisionState (const NewtonUserJoint *joint);
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JOINTLIBRARY_API void CustomSetBodiesCollisionState (const NewtonUserJoint *joint, int state);
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JOINTLIBRARY_API void* CustomGetUserData (const NewtonUserJoint *joint);
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JOINTLIBRARY_API void CustomSetUserData (const NewtonUserJoint *joint, void* userData);
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JOINTLIBRARY_API void CustomSetDestructorCallback (const NewtonUserJoint *joint, NewtonUserJointDestructorCallback callback);
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JOINTLIBRARY_API void CustomSetSubmitContraintCallback (const NewtonUserJoint *joint, NewtonUserJointSubmitConstraintCallback callback);
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// this is a plain blank joint that can be used by advanced users who want to make their own joints
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// but that can only use languages that can only interface with C code.
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// we recommend using the CPP library to make the joints and then add a C interface, but this join is here for completion
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typedef void (*BlankJointGetInfo) (const NewtonUserJoint* me, NewtonJointRecord* info);
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JOINTLIBRARY_API NewtonUserJoint* CustomCreateBlankJoint(int maxDof, const NewtonBody* body0, const NewtonBody* body1, BlankJointGetInfo info);
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// Kinematic control joint
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JOINTLIBRARY_API NewtonUserJoint *CreateCustomKinematicController (const NewtonBody* targetBody, dFloat* attachmentPointInGlobalSpace);
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JOINTLIBRARY_API void CustomKinematicControllerSetPickMode (const NewtonUserJoint *pick, int mode);
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JOINTLIBRARY_API void CustomKinematicControllerSetMaxLinearFriction(const NewtonUserJoint *pick, dFloat accel);
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JOINTLIBRARY_API void CustomKinematicControllerSetMaxAngularFriction(const NewtonUserJoint *pick, dFloat alpha);
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JOINTLIBRARY_API void CustomKinematicControllerSetTargetPosit (const NewtonUserJoint *pick, dFloat* posit);
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JOINTLIBRARY_API void CustomKinematicControllerSetTargetRotation (const NewtonUserJoint *pick, dFloat* rotation);
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JOINTLIBRARY_API void CustomKinematicControllerSetTargetMatrix (const NewtonUserJoint *pick, dFloat* matrix);
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JOINTLIBRARY_API void CustomKinematicControllerGetTargetMatrix (const NewtonUserJoint *pick, dFloat* matrix);
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// Generic 6 degree of Freedom Joint
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JOINTLIBRARY_API NewtonUserJoint *CreateCustomJoint6DOF (const dFloat* pinsAndPivotChildFrame, const dFloat* pinsAndPivotParentFrame, const NewtonBody* child, const NewtonBody* parent);
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JOINTLIBRARY_API void CustomJoint6DOF_SetLinearLimits (NewtonUserJoint* customJoint6DOF, const dFloat* minLinearLimits, const dFloat* maxLinearLimits);
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JOINTLIBRARY_API void CustomJoint6DOF_SetAngularLimits (NewtonUserJoint* customJoint6DOF, const dFloat* minAngularLimits, const dFloat* maxAngularLimits);
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JOINTLIBRARY_API void CustomJoint6DOF_GetLinearLimits (NewtonUserJoint* customJoint6DOF, dFloat* minLinearLimits, dFloat* maxLinearLimits);
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JOINTLIBRARY_API void CustomJoint6DOF_GetAngularLimits (NewtonUserJoint* customJoint6DOF, dFloat* minAngularLimits, dFloat* maxAngularLimits);
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JOINTLIBRARY_API void CustomJoint6DOF_SetReverseUniversal (NewtonUserJoint* customJoint6DOF, int order);
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// Interface for a custom BallAndSocket joint with Limits
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JOINTLIBRARY_API NewtonUserJoint *CreateCustomBallAndSocket (const dFloat* pinsAndPivotChildFrame, const NewtonBody* child, const NewtonBody* parent);
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JOINTLIBRARY_API void BallAndSocketSetConeAngle (NewtonUserJoint* ballJoint, dFloat angle);
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JOINTLIBRARY_API void BallAndSocketSetTwistAngle (NewtonUserJoint* ballJoint, dFloat minAngle, dFloat maxAngle);
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// Interface for a custom Hinge joint with Limits
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JOINTLIBRARY_API NewtonUserJoint *CreateCustomHinge (const dFloat* pinsAndPivotChildFrame, const NewtonBody* child, const NewtonBody* parent);
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JOINTLIBRARY_API void HingeEnableLimits(NewtonUserJoint* hingeJoint, int state);
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JOINTLIBRARY_API void HingeSetLimits (NewtonUserJoint* hingeJoint, dFloat minAngle, dFloat maxAngle);
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JOINTLIBRARY_API dFloat HingeGetJointAngle (const NewtonUserJoint* hingeJoint);
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JOINTLIBRARY_API void HingeGetPinAxis (const NewtonUserJoint* hingeJoint, dFloat* pin);
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JOINTLIBRARY_API dFloat HingeCalculateJointOmega (const NewtonUserJoint* hingeJoint);
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// Interface for a custom Slider joint with Limits
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JOINTLIBRARY_API NewtonUserJoint *CreateCustomSlider (const dFloat* pinsAndPivotChildFrame, const NewtonBody* child, const NewtonBody* parent);
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JOINTLIBRARY_API void SliderEnableLimits(NewtonUserJoint* sliderJoint, int state);
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JOINTLIBRARY_API void SliderSetLimits (NewtonUserJoint* sliderJoint, dFloat mindist, dFloat maxdist);
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// player controller functions
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// typedef int (*PlayerCanPuchThisBodyCalback) (NewtonUserJoint *me, const NewtonBody* hitBody);
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JOINTLIBRARY_API NewtonUserJoint *CreateCustomPlayerController (const dFloat* pins, const NewtonBody* player, dFloat maxStairStepFactor, dFloat cushion);
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JOINTLIBRARY_API void CustomPlayerControllerSetVelocity (const NewtonUserJoint* playerController, dFloat forwardSpeed, dFloat sideSpeed, dFloat heading);
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JOINTLIBRARY_API void CustomPlayerControllerGetVisualMaTrix (const NewtonUserJoint* playerController, dFloat* matrix);
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JOINTLIBRARY_API dFloat CustomPlayerControllerGetMaxSlope (const NewtonUserJoint* playerController);
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JOINTLIBRARY_API void CustomPlayerControllerSetMaxSlope (const NewtonUserJoint* playerController, dFloat maxSlopeAngleIndRadian);
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JOINTLIBRARY_API const NewtonCollision* CustomPlayerControllerGetSensorShape (const NewtonUserJoint* playerController);
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// JOINTLIBRARY_API void CustomPlayerControllerSetPushActorCallback (NewtonUserJoint* playerController, PlayerCanPuchThisBodyCalback callback);
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// JOINTLIBRARY_API const NewtonCollision* CustomPlayerControllerGetVerticalSensorShape (NewtonUserJoint* playerController);
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// JOINTLIBRARY_API const NewtonCollision* CustomPlayerControllerGetDynamicsSensorShape (NewtonUserJoint* playerController);
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// Multi rigid BodyCar controller functions
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// JOINTLIBRARY_API NewtonUserJoint *CreateCustomMultiBodyVehicle (const dFloat* frontDir, const dFloat* upDir, const NewtonBody* carBody);
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// JOINTLIBRARY_API int CustomMultiBodyVehicleAddTire (NewtonUserJoint *car, const void* userData, const dFloat* localPosition,
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// dFloat mass, dFloat radius, dFloat width,
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// dFloat suspensionLength, dFloat springConst, dFloat springDamper);
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// JOINTLIBRARY_API int CustomMultiBodyVehicleAddSlipDifferencial (NewtonUserJoint *car, int leftTireIndex, int rightToreIndex, dFloat maxFriction);
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// JOINTLIBRARY_API int CustomMultiBodyVehicleGetTiresCount(NewtonUserJoint *car);
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// JOINTLIBRARY_API const NewtonBody* CustomMultiBodyVehicleGetTireBody(NewtonUserJoint *car, int tireIndex);
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// JOINTLIBRARY_API dFloat CustomMultiBodyVehicleGetSpeed(NewtonUserJoint *car);
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// JOINTLIBRARY_API dFloat CustomMultiBodyVehicleGetTireSteerAngle (NewtonUserJoint *car, int index);
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// JOINTLIBRARY_API void CustomMultiBodyVehicleApplyTorque (NewtonUserJoint *car, int tireIndex, dFloat torque);
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// JOINTLIBRARY_API void CustomMultiBodyVehicleApplySteering (NewtonUserJoint *car, int tireIndex, dFloat angle);
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// JOINTLIBRARY_API void CustomMultiBodyVehicleApplyBrake (NewtonUserJoint *car, int tireIndex, dFloat brakeTorque);
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// JOINTLIBRARY_API void CustomMultiBodyVehicleApplyTireRollingDrag (NewtonUserJoint *car, int index, dFloat angularDampingCoef);
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// BEGIN k00m (Dave Gravel simple ray cast world vehicle)
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typedef void (*DGRaycastVehicleTireTransformCallback) (NewtonUserJoint *car);
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JOINTLIBRARY_API NewtonUserJoint *DGRaycastVehicleCreate (int maxTireCount, const dFloat* cordenateSytemInLocalSpace, NewtonBody* carBody);
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JOINTLIBRARY_API void DGRaycastVehicleAddTire (NewtonUserJoint *car, void *userData, const dFloat* localPosition, dFloat mass, dFloat radius, dFloat width, dFloat friction, dFloat suspensionLength, dFloat springConst, dFloat springDamper, int castMode);
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JOINTLIBRARY_API void DGRaycastVehicleSetTireTransformCallback (NewtonUserJoint *car, DGRaycastVehicleTireTransformCallback callback);
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JOINTLIBRARY_API int DGRaycastVehicleGetTiresCount(NewtonUserJoint *car);
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JOINTLIBRARY_API void* DGRaycastVehicleGetTiresUserData(NewtonUserJoint *car, int tireIndex);
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JOINTLIBRARY_API void DGRaycastVehicleGetTireMatrix(NewtonUserJoint *car, int tireIndex, dFloat* tireMatrix);
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JOINTLIBRARY_API void DGRaycastVehicleInitNormalizeTireLateralForce(NewtonUserJoint *car, int pointsCount, dFloat* const piceSizeStepAxis, dFloat* const normalizedForceValue);
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JOINTLIBRARY_API void DGRaycastVehicleInitNormalizeTireLongitudinalForce(NewtonUserJoint *car, int pointsCount, dFloat* const piceSizeStepAxis, dFloat* const normalizedForceValue);
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// JOINTLIBRARY_API void DGRayCarGetChassisMatrixLocal(NewtonUserJoint *car, dFloat* chassisMatrix);
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// JOINTLIBRARY_API void DGRayCarTireMatrix(NewtonUserJoint *car, int tire, dFloat* tireMatrix);
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// JOINTLIBRARY_API void DGRayCarSuspensionMatrix(NewtonUserJoint *car, int tire, dFloat param, dFloat* SuspensionMatrix);
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// JOINTLIBRARY_API const NewtonCollision* DGRayCarTireShape(NewtonUserJoint *car, int tireIndex);
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// JOINTLIBRARY_API dFloat DGRaycastVehicleGetSpeed(NewtonUserJoint *car);
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// JOINTLIBRARY_API void DGRaycastVehicleSetCustomTireBrake (NewtonUserJoint *car, int index, dFloat torque);
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// JOINTLIBRARY_API void DGRaycastVehicleSetCustomTireTorque (NewtonUserJoint *car, int index, dFloat torque);
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// JOINTLIBRARY_API void DGRaycastVehicleSetCustomTireSteerAngleForce (NewtonUserJoint *car, int index, dFloat angle, dFloat turnforce);
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// JOINTLIBRARY_API dFloat DGRaycastVehicleGenerateTiresBrake (NewtonUserJoint *car, dFloat value);
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// JOINTLIBRARY_API dFloat DGRaycastVehicleGenerateTiresTorque (NewtonUserJoint *car, dFloat value);
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// JOINTLIBRARY_API dFloat DGRaycastVehicleGenerateTiresSteerForce (NewtonUserJoint *car, dFloat value);
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// JOINTLIBRARY_API dFloat DGRaycastVehicleGenerateTiresSteerAngle (NewtonUserJoint *car, dFloat value);
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// JOINTLIBRARY_API void DGRaycastVehicleSetVarTireMovePointForceFront (NewtonUserJoint *car, int index, dFloat distance);
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// JOINTLIBRARY_API void DGRaycastVehicleSetVarTireMovePointForceRight (NewtonUserJoint *car, int index, dFloat distance);
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// JOINTLIBRARY_API void DGRaycastVehicleSetVarTireMovePointForceUp (NewtonUserJoint *car, int index, dFloat distance);
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// JOINTLIBRARY_API void DGRaycastVehicleSetVarFixDeceleration (NewtonUserJoint *car, dFloat value);
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// JOINTLIBRARY_API void DGRaycastVehicleSetVarChassisRotationLimit (NewtonUserJoint *car, dFloat value);
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// JOINTLIBRARY_API void DGRaycastVehicleSetVarMaxSteerAngle (NewtonUserJoint *car, dFloat value);
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// JOINTLIBRARY_API void DGRaycastVehicleSetVarMaxSteerRate (NewtonUserJoint *car, dFloat value);
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// JOINTLIBRARY_API void DGRaycastVehicleSetVarMaxSteerForceRate (NewtonUserJoint *car, dFloat value);
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// JOINTLIBRARY_API void DGRaycastVehicleSetVarMaxSteerForce (NewtonUserJoint *car, dFloat value);
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// JOINTLIBRARY_API void DGRaycastVehicleSetVarMaxSteerSpeedRestriction (NewtonUserJoint *car, dFloat value);
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// JOINTLIBRARY_API void DGRaycastVehicleSetVarMaxBrakeForce (NewtonUserJoint *car, dFloat value);
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// JOINTLIBRARY_API void DGRaycastVehicleSetVarMaxTorque (NewtonUserJoint *car, dFloat value);
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// JOINTLIBRARY_API void DGRaycastVehicleSetVarMaxTorqueRate (NewtonUserJoint *car, dFloat value);
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// JOINTLIBRARY_API void DGRaycastVehicleSetVarEngineSteerDiv (NewtonUserJoint *car, dFloat value);
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// JOINTLIBRARY_API void DGRaycastVehicleSetVarTireSuspenssionHardLimit (NewtonUserJoint *car, int index, dFloat value);
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// JOINTLIBRARY_API void DGRaycastVehicleSetVarTireFriction (NewtonUserJoint *car, int index, dFloat value);
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// JOINTLIBRARY_API int DGRaycastVehicleGetVehicleOnAir(NewtonUserJoint *car);
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// JOINTLIBRARY_API int DGRaycastVehicleGetTireOnAir(NewtonUserJoint *car, int index);
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// JOINTLIBRARY_API void DGRaycastVehicleDestroy (NewtonUserJoint *car);
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// END
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#ifdef __cplusplus
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}
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#endif
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#endif
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File diff suppressed because it is too large
Load Diff
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@ -0,0 +1,57 @@
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// Copyright (C) 2012 Jérôme Leclercq / Rémi Bèges
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// This file is part of the "Nazara Engine".
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// For conditions of distribution and use, see copyright notice in Config.hpp
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#include <Nazara/Physics/Physics.hpp>
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#include <Nazara/Core/Error.hpp>
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#include <Nazara/Physics/Config.hpp>
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#include <Nazara/Physics/Debug.hpp>
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NzPhysics::NzPhysics()
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{
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}
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NzPhysics::~NzPhysics()
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{
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if (s_initialized)
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Uninitialize();
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}
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bool NzPhysics::Initialize()
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{
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#if NAZARA_PHYSICS_SAFE
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if (s_initialized)
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{
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NazaraError("Physics already initialized");
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return true;
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}
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#endif
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// Initialisation du module
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s_initialized = true;
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return true;
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}
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void NzPhysics::Uninitialize()
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{
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#if NAZARA_PHYSICS_SAFE
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if (!s_initialized)
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{
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NazaraError("Physics not initialized");
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return;
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}
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#endif
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// Libération du module
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s_initialized = false;
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}
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bool NzPhysics::IsInitialized()
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{
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return s_initialized;
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}
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bool NzPhysics::s_initialized = false;
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// Copyright (C) 2012 Jérôme Leclercq / Rémi Bèges
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// This file is part of the "Nazara Engine".
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// For conditions of distribution and use, see copyright notice in Config.hpp
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#include "PhysicsWorld.hpp"
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//#include <Nazara/Physics/PhysicsWorld.hpp>
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#include "PhysicsSolver.hpp"
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//#include <Nazara/Physics/PhysicsSolver.hpp>
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#include <Newton/Newton.h>
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#include <Nazara/Core/Debug.hpp>
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NzPhysicsSolver::NzPhysicsSolver(nzSolverMode mode, unsigned int numberOfPassesLinearMode)
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{
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m_mode = mode;
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m_numberOfPassesLinearMode = numberOfPassesLinearMode;
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}
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void NzPhysicsSolver::Configure(nzSolverMode mode, unsigned int numberOfPassesLinearMode)
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{
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m_mode = mode;
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m_numberOfPassesLinearMode = numberOfPassesLinearMode;
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}
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void NzPhysicsSolver::Set(NzPhysicsWorld* world)
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{
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switch(m_mode)
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{
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case nzExact:
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NewtonSetSolverModel(world, 0);
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break;
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case nzAdaptative:
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NewtonSetSolverModel(world, 1);
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break;
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case nzLinear:
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NewtonSetSolverModel(world, m_numberOfPassesLinearMode);
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}
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}
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NzPhysicsSolver::~NzPhysicsSolver()
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{
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//dtor
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}
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// Copyright (C) 2012 Jérôme Leclercq / Rémi Bèges
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// This file is part of the "Nazara Engine".
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// For conditions of distribution and use, see copyright notice in Config.hpp
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#include "PhysicsWorld.hpp"
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//#include <Nazara/Physics/PhysicsWorld.hpp>
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#include "PhysicsSolver.hpp"
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//#include <Nazara/Physics/PhysicsSolver.hpp>
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#include <Nazara/Core/Debug.hpp>
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NzPhysicsWorld::NzPhysicsWorld()
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{
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m_world = NewtonCreate();
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m_solver.Configure(nzLinear,10);
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m_solver.Set(this);
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SetFrictionModel(nzAdaptative);
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}
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NzPhysicsWorld::~NzPhysicsWorld()
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{
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NewtonDestroy(m_world);
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}
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void NzPhysicsWorld::SetPhysicsSolverSolver(const NzPhysicsSolver& solver)
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{
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m_solver = solver;
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m_solver.Set(this);
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}
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const nzSolverMode& NzPhysicsWorld::GetPhysicsSolver()
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{
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return m_solver;
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}
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void NzPhysicsWorld::SetFrictionModel(nzFrictionModel model)
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{
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switch(model)
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{
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case nzExact:
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NewtonSetFrictionModel(this,0);
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break;
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case nzAdaptative:
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NewtonSetFrictionModel(this,1);
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break;
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}
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m_frictionModel = model;
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}
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const nzFrictionModel& NzPhysicsWorld::GetFrictionModel()
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{
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return m_frictionModel;
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}
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void NzPhysicsWorld::UpdatePhysics(nzUint64 timestep)
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{
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NewtonUpdate(m_world,static_cast<float>(timestep));//FLOAT WTF ?
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}
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