oasisjoint.h

使用stl技术,(还没看,是听说的)

/******************************************************************************
 * This source file is part of Bad Camel Gaming
 * Copyright (C) 2003  Zephie Greyvenstein
 * See Readme.html for acknowledgements
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *****************************************************************************/

/******************************************************************************
 * FILENAME    : oasisJoint.h
 * DESCRIPTION : A physical joint
 * AUTHOR      : Zephie Greyvenstein
 *****************************************************************************/

/// Avoid double inclusion
#ifndef __JOINT_H__
#define __JOINT_H__

/// Include common stuff
#include "oasisCommon.h"
/// Include the rest of the needed oasis stuff
#include "oasisVector3.h"

/// Forward declare ODE stuff
class dBody;
struct dJoint;

namespace Oasis {
  /// This is a physical joint between objects that imposes constraints
  /// on their movement
  class _oasisExport joint {
  public:
    /// Joint axes
    enum JointAxis {
      /// Primary joint
      JA_PRIMARY     = 0,
      JA_SECONDARY   = 1
    };

    /// Joint types
    enum JointType {
      /// Ball and socket joint
      JT_BALL      = 0,
      /// Sliding joint
      JT_SLIDER    = 1,
      /// Hinge joint
      JT_HINGE     = 2,
      /// 2 hinges in series
      JT_HINGE2    = 3,
      /// Universal joint( double joint )
      JT_UNIVERSAL = 4
    };
    
    /// Joint parameters
    enum JointParam {
      /// Low stop angle/position
      JP_LOSTOP        = 0,
      /// Hight stop angle/position
      JP_HISTOP        = 1,
      /// Joint velocity
      JP_VELOCITY      = 2,
      /// Mototr velocity
      JP_VELOCITY2     = 3,
      /// Max force or torque to achieve a velocity
      JP_FMAX          = 4,
      /// Max force or torque to achieve a motor velocity
      JP_FMAX2         = 5,
      /// Suspension ERP
      JP_SUSPENSIONERP = 6,
      /// Suspension CFM
      JP_SUSPENSIONCFM = 7
    };     
    
    /// Destructor
    virtual ~joint( );

    /// A pair of physics
    typedef std::pair< physics*, physics* > physicsPair;
    /// A pair of vectors
    typedef std::pair< vector3, vector3 > vectorPair; 

    /// Get the type of joint this is
    const JointType getType( void ) const;

    /** Set the anchor position
	@remarks
	This sets the anchor point for the joint. Usually this is the hinge,
	but for slider, it doesnt mean anything
    */
    void setAnchorPosition( real x, real y, real z );
    /** Set the anchor position
	@remarks
	This sets the anchor point for the joint. Usually this is the hinge,
	but for slider, it doesnt mean anything
    */
    virtual void setAnchorPosition( const vector3 &origin ) = 0;
    /// Get the anchor position
    virtual const vector3 &getAnchorPosition( void ) const;

    /// Get the attached physicals
    virtual const physicsPair &getAttachments( void ) const;

    /** Sets the axis for the joint
	@remarks
	For ball, this is not applicable. Only JT_UNIVERSAL and JT_HINGE2
	need the second axis.
    */
    virtual void setAxes( const vector3 &primary, 
			  const vector3 &secondary = vector3::ZERO ) = 0;
    /// Get the axes for the joint
    virtual const vectorPair &getAxes( void ) const;
    /// Get one of the axes
    virtual const vector3 &getAxis( JointAxis axis ) const;

    /// Set a parameter for a joint ( Useless for some joints )
    virtual void setParameter( JointParam param, real value ) = 0;
    /// Get a paramater for a joint ( Useless for some joints )
    virtual const real getParameter( JointParam param ) = 0;

    /// Get the angle of an axis( meaningless for some joints )
    virtual const real getAxisAngle( JointAxis axis ) const = 0;

  protected:
    /// Constructor
    joint( JointType thisType );
   
    /// Joint type
    JointType type;
    /// Anchor position
    vector3 anchor;
    /// Attached physicals
    physicsPair attachments;
    /// Axes
    vectorPair axes;
    /// ODE joint
    dJoint *odeJoint;

    /// Set the actual attachments on the ODE level
    void setBodies( physics *first, physics *second );

    /// Maps a joint parameter to the ODE int
    int _mapToODEParam( JointParam param );
  };    
};

#endif