oxnewtonjoint.pas

Newton Game Dynamic 1.52 Delphi下基于GLScene的OpenGL游戏开发控件。功能非常强大和易于使用。 Advanced physics engine for re

    result:= NewtonJointGetStiffness( Joint )
  else
    result:= FStiffness;
end;
{******************************************************************************}
// [15-9-2007]: TOXUpVectorJoint last change by Dave Gravel.                 //
{******************************************************************************}
procedure TOXUpVectorJoint.DoProgress( const progressTime: TProgressTimes );
begin
  inherited;
  if FActived then
  begin

  end;
end;
{******************************************************************************}
// [15-9-2007]: TOXUpVectorJoint last change by Dave Gravel.                 //
{******************************************************************************}
procedure TOXUpVectorJoint.InitJoint( body: PNewtonBody );
begin
  FManager:= TOXNewtonManager(Scene);
  if FActived or ( FManager = nil ) then Exit;
  FManager.AddLog(  Name + ' create.', 1, ':Info Object' );
  oxSetJointUpVector( self, body );
  FManager.AddLog( 'Joint UpVector Name: '+Name, 1, ':Info Object' );
  FManager.AddLog(  Name + ' InitJoint.', 1, ':Info Object' );
  FActived:= True;
end;
{******************************************************************************}
// [15-9-2007]: TOXUpVectorJoint last change by Dave Gravel.                 //
{******************************************************************************}
procedure TOXUpVectorJoint.SetStiffness( const val: Float );
begin
  if FStiffness <> val then
  begin
    FStiffness:= val;
    if FActived then
      NewtonJointSetStiffness( Joint, FStiffness );
  end;
end;
{******************************************************************************}
// [15-9-2007]: TOXUpVectorJoint last change by Dave Gravel.                 //
{******************************************************************************}
destructor TOXUpVectorJoint.destroy;
begin
  if FActived and assigned(Joint) then begin
    if ( not ( csDesigning in ComponentState ) ) then
      if Name = '' then FManager.AddLog( ClassName + ' destroyed.', 1, ':Info Object' )
      else FManager.AddLog( Name + ' destroyed.', 1, ':Info Object' );
    if Joint<>nil then
      NewtonDestroyJoint( FManager.World, Joint );
    FActived:= False;
  end;
  inherited destroy;
end;
{******************************************************************************}
// [15-9-2007]: TOXUserBilateralJoint last change by Dave Gravel.            //
{******************************************************************************}
constructor TOXUserBilateralJoint.Create( aOwner: TComponent );
begin
  inherited Create( aOwner );
  FOrionX3D:= 100;  
  FActived:= False;
  FPinLength:= 50.0;
  FCollisionState:= 0;
  FStiffness:= 1;
  FMaxDOF:= 1;
  FcPivot:= oxV4Make( 0, 0, 0, 0 );
  FcPin:= oxV4Make( 0, 0, 0, 0 );
  FpPivot:= oxV4Make( 0, 0, 0, 0 );
  FpPin:= oxV4Make( 0, 0, 0, 0 );
  FLocalUse:= True;
  EdgeColor.AsWinColor:= clRed;
end;
{******************************************************************************}
// [15-9-2007]: TOXUserBilateralJoint last change by Dave Gravel.            //
{******************************************************************************}
procedure TOXUserBilateralJoint.CalculateLocalMatrix( const aPivot, aDir: TOXVector3;
out aLocalMatrix0, aLocalMatrix1: TOXMatrix );
var
  Matrix0: TOXMatrix;
  Matrix1: TOXMatrix;
  PinAndPivot: TOXMatrix;
  InverseMatrix: TOXMatrix;
begin
  if FBody0 <> nil then
    NewtonBodyGetMatrix( FBody0, @Matrix0[0, 0] );
  Matrix1:= oxIdentityM;
  if FBody1 <> nil then
    NewtonBodyGetMatrix( FBody1, @Matrix1[0, 0] );
  PinAndPivot:= oxMGrammSchmidt( aDir );
  oxMSetTransform( PinAndPivot, aPivot );
  InverseMatrix:= Matrix0;
  oxInvertM( InverseMatrix );
  aLocalMatrix0:= oxMMultiply( PinAndPivot, InverseMatrix );
  InverseMatrix:= Matrix1;
  oxInvertM( InverseMatrix );
  aLocalMatrix1:= oxMMultiply( PinAndPivot, InverseMatrix );
end;
{******************************************************************************}
// [15-9-2007]: TOXUserBilateralJoint last change by Dave Gravel.            //
{******************************************************************************}
procedure TOXUserBilateralJoint.CalculateGlobalMatrix( const aLocalMatrix0, aLocalMatrix1: TOXMatrix;
out aMatrix0, aMatrix1: TOXMatrix );
var
  Matrix0: TOXMatrix;
  Matrix1: TOXMatrix;
begin
  if FBody0 <> nil then
    NewtonBodyGetMatrix( FBody0, @Matrix0[0, 0] );
  Matrix1:= oxIdentityM;
  if FBody1 <> nil then
    NewtonBodyGetMatrix( FBody1, @Matrix1[0, 0] );
  aMatrix0:= oxMMultiply( aLocalMatrix0, Matrix0 );
  aMatrix1:= oxMMultiply( aLocalMatrix1, Matrix1 );
end;
{******************************************************************************}
// [15-9-2007]: TOXUserBilateralJoint last change by Dave Gravel.            //
{******************************************************************************}
procedure TOXUserBilateralJoint.InitJoint( body1, body2: PNewtonBody );
begin
  FManager:= TOXNewtonManager(Scene);
  if FActived or ( FManager = nil ) then Exit;
  FManager.AddLog(  Name + ' create.', 1, ':Info Object' );
  FBody0:= body1; FBody1:= body2;
  FcPivot[0]:= Position.X;
  FcPivot[1]:= Position.Y;
  FcPivot[2]:= Position.Z;
  FcPivot[3]:= Position.W;
  FcPin[0]:= JointChildPin.X;
  FcPin[1]:= JointChildPin.Y;
  FcPin[2]:= JointChildPin.Z;
  FpPivot[0]:= Position.X;
  FpPivot[1]:= Position.Y;
  FpPivot[2]:= Position.Z;
  FpPin[0]:= JointParentPin.X;
  FpPin[1]:= JointParentPin.Y;
  FpPin[2]:= JointParentPin.Z;
  if assigned( FOnCustomCreate ) and not assigned( FOnCustomBothCreate ) then begin
    FOnCustomCreate( FBody0, FBody1, FcPivot, FcPin );
    if FLocalUse then
      CalculateLocalMatrix( oxV3Make(FcPivot), oxV3Make(FcPin), FLocalMatrix0, FLocalMatrix1 );
  end else
  if assigned( FOnCustomBothCreate ) and not assigned( FOnCustomCreate ) then begin
    FOnCustomBothCreate( FBody0, FBody1, FcPivot, FcPin, FpPivot, FpPin );
    if FLocalUse then begin
      CalculateLocalMatrix( oxV3Make(FcPivot), oxV3Make(FcPin), FLocalMatrix0, FLocalMatrix1 );
      CalculateLocalMatrix( oxV3Make(FpPivot), oxV3Make(FpPin), FDommyMatrix, FLocalMatrix1 );
    end;
  end else
    if not assigned( FOnCustomCreate ) and not assigned( FOnCustomBothCreate ) then
      CalculateLocalMatrix( oxV3Make(FcPivot), oxV3Make(FcPin), FLocalMatrix0, FLocalMatrix1 );
  oxSetJointUserBilateral( self, body1, body2 );
  FManager.AddLog( 'Joint UserBilateral Name: ' + Name, 1, ':Info Object' );
  FManager.AddLog(  Name + ' InitJoint.', 1, ':Info Object' );
  FActived:= True;
end;
{******************************************************************************}
// [15-9-2007]: TOXUserBilateralJoint last change by Dave Gravel.            //
{******************************************************************************}
function TOXUserBilateralJoint.GetCollisionState: integer;
begin
  if FActived then
    result:= NewtonJointGetCollisionState( Joint )
  else
    result:= FCollisionState;
end;
{******************************************************************************}
// [15-9-2007]: TOXUserBilateralJoint last change by Dave Gravel.            //
{******************************************************************************}
procedure TOXUserBilateralJoint.SetCollisionState( const val: integer );
begin
  if FCollisionState <> val then
  begin
    FCollisionState:= val;
    if FActived then
      NewtonJointSetCollisionState( Joint, FCollisionState );
  end;
end;
{******************************************************************************}
// [15-9-2007]: TOXUserBilateralJoint last change by Dave Gravel.            //
{******************************************************************************}
function TOXUserBilateralJoint.GetStiffness: Float;
begin
  if FActived then
    result:= NewtonJointGetStiffness( Joint )
  else
    result:= FStiffness;
end;
{******************************************************************************}
// [15-9-2007]: TOXUserBilateralJoint last change by Dave Gravel.            //
{******************************************************************************}
procedure TOXUserBilateralJoint.DoProgress( const progressTime: TProgressTimes );
begin
  inherited;
  if FActived then
  begin

  end;
end;
{******************************************************************************}
// [15-9-2007]: TOXUserBilateralJoint last change by Dave Gravel.            //
{******************************************************************************}
procedure TOXUserBilateralJoint.SetStiffness( const val: Float );
begin
  if FStiffness <> val then
  begin
    FStiffness:= val;
    if FActived then
      NewtonJointSetStiffness( Joint, FStiffness );
  end;
end;
{******************************************************************************}
// [15-9-2007]: TOXUserBilateralJoint last change by Dave Gravel.            //
{******************************************************************************}
procedure TOXUserBilateralJoint.AddLinearRow( pivot0: PFloat; pivot1: PFloat; Dir: PFloat );
begin
  if FActived then
  begin
    NewtonUserJointAddLinearRow( Joint, pivot0, pivot1, Dir );
  end;
end;
{******************************************************************************}
// [15-9-2007]: TOXUserBilateralJoint last change by Dave Gravel.            //
{******************************************************************************}
procedure TOXUserBilateralJoint.AddAngularRow( RelativeAngle: Float; Dir: PFloat );
begin
  if FActived then
  begin
    NewtonUserJointAddAngularRow( Joint, RelativeAngle, Dir );
  end;
end;
{******************************************************************************}
// [15-9-2007]: TOXUserBilateralJoint last change by Dave Gravel.            //
{******************************************************************************}
procedure TOXUserBilateralJoint.AddGeneralRow( Jacobian0: PFloat; Jacobian1: PFloat );
begin
  if FActived then
  begin
    NewtonUserJointAddGeneralRow( Joint, Jacobian0, Jacobian1 );
  end;
end;
{******************************************************************************}
// [15-9-2007]: TOXUserBilateralJoint last change by Dave Gravel.            //
{******************************************************************************}
procedure TOXUserBilateralJoint.SetRowMinimumFriction( Friction: Float );
begin
  if FActived then
  begin
    NewtonUserJointSetRowMinimumFriction( Joint, Friction );
  end;
end;
{******************************************************************************}
// [15-9-2007]: TOXUserBilateralJoint last change by Dave Gravel.            //
{******************************************************************************}
procedure TOXUserBilateralJoint.SetRowMaximumFriction( Friction: Float );
begin
  if FActived then
  begin
    NewtonUserJointSetRowMaximumFriction( Joint, Friction );
  end;
end;
{******************************************************************************}
// [15-9-2007]: TOXUserBilateralJoint last change by Dave Gravel.            //
{******************************************************************************}
procedure TOXUserBilateralJoint.SetRowAcceleration( Acceleration: Float );
begin
  if FActived then
  begin
    NewtonUserJointSetRowAcceleration( Joint, Acceleration );
  end;
end;
{******************************************************************************}
// [15-9-2007]: TOXUserBilateralJoint last change by Dave Gravel.            //
{******************************************************************************}
procedure TOXUserBilateralJoint.SetRowStiffness( Stiffness: Float );
begin
  if FActived then
  begin
    NewtonUserJointSetRowStiffness( Joint, Stiffness );
  end;
end;
{******************************************************************************}
// [15-9-2007]: TOXUserBilateralJoint last change by Dave Gravel.            //
{******************************************************************************}
procedure TOXUserBilateralJoint.SetRowSpringDamperAcceleration( springK: Float; springD: Float );
begin
  if FActived then
  begin
    NewtonUserJointSetRowSpringDamperAcceleration( Joint, springK, springD );
  end;
end;
{******************************************************************************}
// [15-9-2007]: TOXUserBilateralJoint last change by Dave Gravel.            //
{******************************************************************************}
function TOXUserBilateralJoint.GetRowForce( Row: Int ): Float;
begin
  if FActived then
    result:= NewtonUserJointGetRowForce( Joint, Row )
  else
  result:= 0.0;
end;
{******************************************************************************}
// [15-9-2007]: TOXUserBilateralJoint last change by Dave Gravel.            //
{******************************************************************************}
destructor TOXUserBilateralJoint.destroy;
begin
  if FActived and assigned(Joint) then begin
    if ( not ( csDesigning in ComponentState ) ) then
      if Name = '' then FManager.AddLog( ClassName + ' destroyed.', 1, ':Info Object' )
      else FManager.AddLog( Name + ' destroyed.', 1, ':Info Object' );
    if ( Joint <> nil ) then
      NewtonDestroyJoint( FManager.World, Joint );
    FActived:= False;
  end;
  inherited destroy;
end;
{******************************************************************************}
{$D '[15-9-2007]: TOXNewtonManager v1.55 by Dave Gravel under MPL-1.1 license.'}
{******************************************************************************}
initialization
  RegisterClasses( [ TOXBallJoint, TOXBallJoint, TOXHingeJoint, TOXSliderJoint,
                     TOXCorkscrewJoint, TOXUniversalJoint, TOXUpVectorJoint,
                     TOXUserBilateralJoint ] );
end.