Kent Mein
209a2ede2c
#ifdef HAVE_CONFIG_H #include <config.h> #endif added to these files. Kent -- mein@cs.umn.edu
107 lines
2.7 KiB
C++
107 lines
2.7 KiB
C++
/**
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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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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version. The Blender
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* Foundation also sells licenses for use in proprietary software under
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* the Blender License. See http://www.blender.org/BL/ for information
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* about this.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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*
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* The Original Code is Copyright (C) 2001-2002 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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#include "SumoPhysicsEnvironment.h"
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#include "PHY_IMotionState.h"
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#include "SumoPhysicsController.h"
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#include "SM_Scene.h"
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#ifdef HAVE_CONFIG_H
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#include <config.h>
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#endif
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const MT_Scalar UpperBoundForFuzzicsIntegrator = 0.01;
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// At least 100Hz (isn't this CPU hungry ?)
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SumoPhysicsEnvironment::SumoPhysicsEnvironment()
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{
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// seperate collision scene for events
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m_solidScene = DT_CreateScene();
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m_respTable = DT_CreateRespTable();
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m_sumoScene = new SM_Scene();
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m_sumoScene->setSecondaryRespTable(m_respTable);
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}
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SumoPhysicsEnvironment::~SumoPhysicsEnvironment()
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{
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delete m_sumoScene;
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DT_DeleteScene(m_solidScene);
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DT_DeleteRespTable(m_respTable);
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}
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void SumoPhysicsEnvironment::proceed(double timeStep)
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{
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m_sumoScene->proceed(timeStep,UpperBoundForFuzzicsIntegrator);
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}
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void SumoPhysicsEnvironment::setGravity(float x,float y,float z)
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{
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m_sumoScene->setForceField(MT_Vector3(x,y,z));
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}
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int SumoPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl,class PHY_IPhysicsController* ctrl2,PHY_ConstraintType type,
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float pivotX,float pivotY,float pivotZ,float axisX,float axisY,float axisZ)
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{
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int constraintid = 0;
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return constraintid;
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}
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void SumoPhysicsEnvironment::removeConstraint(int constraintid)
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{
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if (constraintid)
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{
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}
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}
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PHY_IPhysicsController* SumoPhysicsEnvironment::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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{
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//collision detection / raytesting
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//m_sumoScene->rayTest(ignoreclient,from,to,result,normal);
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return NULL;
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}
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