148 lines
4.6 KiB
C++
148 lines
4.6 KiB
C++
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#ifndef ODEWORLD_H
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#define ODEWORLD_H
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#include <ode/ode.h>
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#include <vector>
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#include <string>
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#include <map>
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#include "refptr/refptr.h"
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#ifdef DEBUG_AMOTOR
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#include <iostream>
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using namespace std;
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#endif
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class OdeWorld
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{
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public:
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enum GeomType { BOX, SPHERE, PLANE, CYLINDER, CAPSULE };
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OdeWorld();
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~OdeWorld();
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class Object
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{
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public:
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Object(bool is_static, OdeWorld * ode_world,
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dWorldID world, dSpaceID space,
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float scale = 1.0f);
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Object(const Object & orig);
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~Object();
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void setPosition(double x, double y, double z);
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void getPosition(double * x, double * y, double * z);
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void setRotation(dReal x, dReal y, dReal z);
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const dReal * getPosition();
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const dReal * getRotation();
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bool addBox(refptr< std::vector<float> > args);
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bool addSphere(refptr< std::vector<float> > args);
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bool addCylinder(refptr< std::vector<float> > args);
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bool addCapsule(refptr< std::vector<float> > args);
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bool addPlane(refptr< std::vector<float> > args);
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void addForce(dReal fx, dReal fy, dReal fz);
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void addForceRel(dReal fx, dReal fy, dReal fz);
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void addTorque(dReal fx, dReal fy, dReal fz);
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void addTorqueRel(dReal fx, dReal fy, dReal fz);
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void finalize();
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dReal getMass() { return m_mass.mass; }
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void setMass(dReal newmass);
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void enableBody();
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dBodyID getBody() { return m_body; }
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protected:
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bool m_is_static;
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dBodyID m_body;
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dMass m_mass;
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dWorldID m_world;
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dSpaceID m_space;
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std::vector<dGeomID> m_geoms;
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float m_scale;
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dReal m_position[3];
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dReal m_rotation[12];
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OdeWorld * m_ode_world;
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void setupGeom(dGeomID geom, dMass * mass,
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float locx, float locy, float locz,
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float rotx, float roty, float rotz);
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dGeomID cloneGeom(dGeomID geom, dBodyID body);
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};
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Object * createObject(bool is_static, float scale = 1.0f);
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void setGravity(float x, float y, float z)
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{
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dWorldSetGravity(m_world, x, y, z);
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enableAllBodies();
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}
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void step();
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void enableAllBodies();
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dWorldID getWorldID() { return m_world; }
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dJointID createAMotor(dBodyID b1, dBodyID b2);
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void setAMotorNumAxes(dJointID j, int num_axes)
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{
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#ifdef DEBUG_AMOTOR
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cout << "num axes: " << num_axes << endl;
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#endif
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dJointSetAMotorNumAxes(j, num_axes);
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}
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void setAMotorAxis(dJointID j, int anum, int rel,
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dReal x, dReal y, dReal z)
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{
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#ifdef DEBUG_AMOTOR
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cout << "axis: " << anum << ", " << rel
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<< ", (" << x << ", " << y << ", " << z << ")" << endl;
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#endif
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dJointSetAMotorAxis(j, anum, rel, x, y, z);
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}
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void setAMotorLoStop(dJointID j, dReal val)
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{
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#ifdef DEBUG_AMOTOR
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cout << "lo stop: " << val << endl;
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#endif
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dJointSetAMotorParam(j, dParamLoStop, val);
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}
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void setAMotorHiStop(dJointID j, dReal val)
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{
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#ifdef DEBUG_AMOTOR
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cout << "hi stop: " << val << endl;
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#endif
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dJointSetAMotorParam(j, dParamHiStop, val);
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}
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void setAMotorVel(dJointID j, dReal val)
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{
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#ifdef DEBUG_AMOTOR
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cout << "vel: " << val << endl;
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#endif
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dJointSetAMotorParam(j, dParamVel, val);
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}
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void setAMotorFMax(dJointID j, dReal val)
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{
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#ifdef DEBUG_AMOTOR
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cout << "fmax: " << val << endl;
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#endif
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dJointSetAMotorParam(j, dParamFMax, val);
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}
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void setAMotorBounce(dJointID j, dReal val)
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{
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#ifdef DEBUG_AMOTOR
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cout << "bounce: " << val << endl;
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#endif
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dJointSetAMotorParam(j, dParamBounce, val);
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}
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friend void OdeWorld_collide_callback(void * data,
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dGeomID o1, dGeomID o2);
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static void pushTransform(const dReal * pos, const dReal * R);
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protected:
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dBodyID createBody();
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void destroyBody(dBodyID body);
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dWorldID m_world;
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dSpaceID m_space;
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dJointGroupID m_contactJointGroup;
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std::map<dBodyID, int> m_bodies;
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};
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#endif
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