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