forked from bartvdbraak/blender
71 lines
2.2 KiB
C
71 lines
2.2 KiB
C
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/**
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* $Id$
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*
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* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
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*
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* The contents of this file may be used under the terms of either the GNU
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* General Public License Version 2 or later (the "GPL", see
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* http://www.gnu.org/licenses/gpl.html ), or the Blender License 1.0 or
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* later (the "BL", see http://www.blender.org/BL/ ) which has to be
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* bought from the Blender Foundation to become active, in which case the
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* above mentioned GPL option does not apply.
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*
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* The Original Code is Copyright (C) 2002 by NaN Holding BV.
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* All rights reserved.
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*
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* The Original Code is: all of this file.
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*
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* Contributor(s): none yet.
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*
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* ***** END GPL/BL DUAL LICENSE BLOCK *****
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*/
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#ifndef _ODEPHYSICSENVIRONMENT
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#define _ODEPHYSICSENVIRONMENT
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#include "PHY_IPhysicsEnvironment.h"
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/**
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* Physics Environment takes care of stepping the simulation and is a container for physics entities (rigidbodies,constraints, materials etc.)
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* A derived class may be able to 'construct' entities by loading and/or converting
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*/
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class ODEPhysicsEnvironment : public PHY_IPhysicsEnvironment
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{
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public:
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ODEPhysicsEnvironment();
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virtual ~ODEPhysicsEnvironment();
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// Perform an integration step of duration 'timeStep'.
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virtual void proceed(double timeStep);
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virtual void setGravity(float x,float y,float z);
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virtual int createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
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float pivotX,float pivotY,float pivotZ,
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float axisX,float axisY,float axisZ);
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virtual void removeConstraint(int constraintid);
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virtual PHY_IPhysicsController* rayTest(void* ignoreClient,float fromX,float fromY,float fromZ, float toX,float toY,float toZ,
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float& hitX,float& hitY,float& hitZ,float& normalX,float& normalY,float& normalZ);
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struct dxWorld* GetOdeWorld() { return m_OdeWorld; };
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struct dxSpace* GetOdeSpace() { return m_OdeSpace;};
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private:
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// ODE physics response
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struct dxWorld* m_OdeWorld;
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// ODE collision detection
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struct dxSpace* m_OdeSpace;
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void ClearOdeContactGroup();
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struct dxJointGroup* m_OdeContactGroup;
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struct dxJointGroup* m_JointGroup;
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static void OdeNearCallback(void *data, struct dxGeom* o1, struct dxGeom* o2);
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int GetNumOdeContacts();
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};
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#endif //_ODEPHYSICSENVIRONMENT
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