NewtonClass.h

/* 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 &params);

    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