OgreNewt_Joint.h

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/* 
    OgreNewt Library
 
    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.
 
        by Walaber
        some changes by melven
 
*/
#ifndef _INCLUDE_OGRENEWT_JOINT
#define _INCLUDE_OGRENEWT_JOINT
 
 
 
#include "OgreNewt_Prerequisites.h"
 
class CustomJoint; 
 
// OgreNewt namespace.  all functions and classes use this namespace.
namespace OgreNewt
{
 
 
        //class _OgreNewtExport Joint : public _DestructorCallback<Joint>
        class _OgreNewtExport Joint
        {
                public:
 
                Joint();
 
                virtual ~Joint();
 
                Body* getBody0() const;
 
                Body* getBody1() const;
 
    const OgreNewt::World* getWorld();
 
                virtual void submitConstraint( Ogre::Real timeStep, int threadIndex ) {};
 
 
                virtual void showDebugData(Ogre::SceneNode* debugRootNode) {}
 
 
                int getCollisionState() const;
 
 
                void setCollisionState( int state ) const;
 
 
                Ogre::Real getStiffness() const;
 
 
                void setStiffness( Ogre::Real stiffness ) const;
 
                protected:
                void addLinearRow( const Ogre::Vector3& pt0, const Ogre::Vector3& pt1, const Ogre::Vector3& dir ) const;
 
                void addAngularRow( Ogre::Radian relativeAngleError, const Ogre::Vector3& dir ) const;
 
                void addGeneralRow(const Ogre::Vector3& linear0, const Ogre::Vector3& angular0, const Ogre::Vector3& linear1, const Ogre::Vector3& angular1) const;
 
                void setRowMinimumFriction( Ogre::Real friction ) const;
 
                void setRowMaximumFriction( Ogre::Real friction ) const;
 
                void setRowStiffness( Ogre::Real stiffness ) const;
 
                void setRowAcceleration( Ogre::Real accel ) const;
 
                void setRowSpringDamper(Ogre::Real springK, Ogre::Real springD) const;
 
        protected:
 
                static void _CDECL destructorCallback (const CustomJoint* me);
 
                // ! submitConstraint callback glue
                static void _CDECL submitConstraintCallback ( const CustomJoint* me, dFloat timestep, int threadIndex );
 
                void SetSupportJoint (CustomJoint* supportJoint);
 
                CustomJoint* GetSupportJoint () const;
 
                CustomJoint* m_joint;
        };
 
        class _OgreNewtExport OgCustomJoint : public Joint
        {
        public:
                OgCustomJoint( unsigned int maxDOF, const OgreNewt::Body* child, const OgreNewt::Body* parent);
                virtual ~OgCustomJoint();
 
                void pinAndDirToLocal( const Ogre::Vector3& pinpt, const Ogre::Vector3& pindir, Ogre::Quaternion& localOrient0, Ogre::Vector3& localPos0, Ogre::Quaternion& localOrient1, Ogre::Vector3& localPos1 ) const;
                void localToGlobal( const Ogre::Quaternion& localOrient, const Ogre::Vector3& localPos, Ogre::Quaternion& globalOrient, Ogre::Vector3& globalPos, int bodyIndex ) const;
                void localToGlobalVisual( const Ogre::Quaternion& localOrient, const Ogre::Vector3& localPos, Ogre::Quaternion& globalOrient, Ogre::Vector3& globalPos, int bodyIndex ) const;
                void globalToLocal( const Ogre::Quaternion& globalOrient, const Ogre::Vector3& globalPos, Ogre::Quaternion& localOrient, Ogre::Vector3& localPos, int bodyIndex ) const;
                Ogre::Quaternion grammSchmidt( const Ogre::Vector3& pin ) const;
 
        protected:
                unsigned int m_maxDOF;
 
                const OgreNewt::Body* m_body0;
                const OgreNewt::Body* m_body1;
        };
 
}   // end NAMESPACE OgreNewt
 
 
 
 
// _INCLUDE_OGRENEWT_JOINT
 
#endif