hkpWheelConstraintData.h
上传用户:yisoukefu
上传日期:2020-08-09
资源大小:39506k
文件大小:7k
源码类别:
其他游戏
开发平台:
Visual C++
- /*
- *
- * Confidential Information of Telekinesys Research Limited (t/a Havok). Not for disclosure or distribution without Havok's
- * prior written consent. This software contains code, techniques and know-how which is confidential and proprietary to Havok.
- * Level 2 and Level 3 source code contains trade secrets of Havok. Havok Software (C) Copyright 1999-2009 Telekinesys Research Limited t/a Havok. All Rights Reserved. Use of this software is subject to the terms of an end user license agreement.
- *
- */
- #ifndef HK_DYNAMICS2_WHEEL_CONSTRAINT_H
- #define HK_DYNAMICS2_WHEEL_CONSTRAINT_H
- #include <Physics/Dynamics/Constraint/hkpConstraintData.h>
- #include <Physics/ConstraintSolver/Constraint/Atom/hkpConstraintAtom.h>
- extern const hkClass hkpWheelConstraintDataClass;
- /// A wheel constraint. The constraint's body A is the wheel, while its body B is the chassis.
- class hkpWheelConstraintData : public hkpConstraintData
- {
- public:
- HK_DECLARE_REFLECTION();
- hkpWheelConstraintData();
- /// Sets the wheel up with world space information. The Wheel is A, the Chassis is B.
- /// param bodyA The attached body, ie the wheel.
- /// param bodyB The reference body, ie the chassis.
- /// param pivot The pivot point, specified in world space.
- /// param axle The axle, specified in world space.
- /// param suspensionAxis The suspension axis, in world space.
- /// param steeringAxis The steering axis, in world space.
- void setInWorldSpace(const hkTransform& bodyATransform, const hkTransform& bodyBTransform,
- const hkVector4& pivot, const hkVector4& axle,
- const hkVector4& suspensionAxis, const hkVector4& steeringAxis);
- /// Sets the wheel up with with body space information. The Wheel is A, the Chassis is B.
- /// param bodyA The attached body, ie the wheel.
- /// param bodyB The reference body, ie the chassis.
- /// param pivotA The pivot point, specified in bodyA space.
- /// param pivotB The pivot point, specified in bodyB space.
- /// param axleA The axle, specified in bodyA space.
- /// param axleB The axle, specified in bodyB space.
- /// param suspensionAxisB The suspension axis, in bodyB space.
- /// param steeringAxisB The steering axis, in bodyB space.
- void setInBodySpace(const hkVector4& pivotA, const hkVector4& pivotB,
- const hkVector4& axleA, const hkVector4& axleB,
- const hkVector4& suspensionAxisB, const hkVector4& steeringAxisB);
- /// Check consistency of constraint members
- virtual hkBool isValid() const;
- /// Sets the steering angle.
- void setSteeringAngle( hkReal angle );
- /// Get type from this constraint
- virtual int getType() const;
- /// Sets maximum limit of the suspension (0.5f by default).
- HK_FORCE_INLINE void setSuspensionMaxLimit(hkReal maxLimit);
- /// Sets minimum limit of the suspension (-0.5f by default).
- HK_FORCE_INLINE void setSuspensionMinLimit(hkReal minLimit);
- /// Sets suspension strength factor (0 by default).
- HK_FORCE_INLINE void setSuspensionStrength(hkReal tau);
- /// Sets suspension damping factor (0 by default).
- HK_FORCE_INLINE void setSuspensionDamping(hkReal damping);
- public:
- struct Atoms
- {
- HK_DECLARE_NONVIRTUAL_CLASS_ALLOCATOR( HK_MEMORY_CLASS_DYNAMICS, hkpWheelConstraintData::Atoms );
- HK_DECLARE_REFLECTION();
- enum Axis
- {
- AXIS_SUSPENSION = 0,
- AXIS_PERP_SUSPENSION = 1,
- AXIS_AXLE = 0,
- AXIS_STEERING = 1
- };
- struct hkpSetLocalTransformsConstraintAtom m_suspensionBase;
- struct hkpLinLimitConstraintAtom m_lin0Limit;
- struct hkpLinSoftConstraintAtom m_lin0Soft;
- struct hkpLinConstraintAtom m_lin1;
- struct hkpLinConstraintAtom m_lin2;
- struct hkpSetLocalRotationsConstraintAtom m_steeringBase;
- struct hkp2dAngConstraintAtom m_2dAng;
- Atoms()
- {
- HK_CONSTRAINT_FILL_PADDING_WITH_ZERO(m_lin2, m_steeringBase);
- }
- // get a pointer to the first atom
- const hkpConstraintAtom* getAtoms() const { return &m_suspensionBase; }
- // get the size of all atoms (we can't use sizeof(*this) because of align16 padding)
- int getSizeOfAllAtoms() const { return hkGetByteOffsetInt(this, &m_2dAng+1); }
- Atoms(hkFinishLoadedObjectFlag f) : m_suspensionBase(f), m_lin0Limit(f), m_lin0Soft(f), m_lin1(f), m_lin2(f), m_steeringBase(f), m_2dAng(f) {}
- };
- HK_ALIGN16( struct Atoms m_atoms );
- // Used for modifying the localRotation when settingSteeringAngle
- hkVector4 m_initialAxleInB;
- hkVector4 m_initialSteeringAxisInB;
- enum
- {
- SOLVER_RESULT_ANG_0 = 0, // angular constraint 0
- SOLVER_RESULT_ANG_1 = 1, // angular constraint 1
- SOLVER_RESULT_LIMIT = 2, // linear limit 2
- SOLVER_RESULT_LIN_0 = 3, // linear constraint
- SOLVER_RESULT_LIN_1 = 4, // linear constraint
- SOLVER_RESULT_TAU_AND_DAMP = 5, // tau and damping
- SOLVER_RESULT_MAX = 6 // keep in sync with solver res array below.
- };
- struct Runtime
- {
- HK_DECLARE_NONVIRTUAL_CLASS_ALLOCATOR( HK_MEMORY_CLASS_DYNAMICS, hkpWheelConstraintData::Runtime );
- class hkpSolverResults m_solverResults[6/*VC6 doesn't like the scoping for SOLVER_RESULT_MAX*/];
- };
- static inline Runtime* HK_CALL getRuntime( hkpConstraintRuntime* runtime ) { return reinterpret_cast<Runtime*>(runtime); }
- public:
- // Internal functions
- // hkpConstraintData interface implementations
- virtual void getConstraintInfo( ConstraintInfo& infoOut ) const;
- // hkpConstraintData interface implementations
- virtual void getRuntimeInfo( hkBool wantRuntime, hkpConstraintData::RuntimeInfo& infoOut ) const;
- public:
- hkpWheelConstraintData(hkFinishLoadedObjectFlag f) : hkpConstraintData(f), m_atoms(f) {}
- };
- void hkpWheelConstraintData::setSuspensionMaxLimit(hkReal maxLimit)
- {
- m_atoms.m_lin0Limit.m_max = maxLimit;
- }
- void hkpWheelConstraintData::setSuspensionMinLimit(hkReal minLimit)
- {
- m_atoms.m_lin0Limit.m_min = minLimit;
- }
- void hkpWheelConstraintData::setSuspensionStrength(hkReal tau)
- {
- m_atoms.m_lin0Soft.m_tau = tau;
- }
- void hkpWheelConstraintData::setSuspensionDamping(hkReal damping)
- {
- m_atoms.m_lin0Soft.m_damping = damping;
- }
- #endif //HK_DYNAMICS2_WHEEL_CONSTRAINT_H
- /*
- * Havok SDK - NO SOURCE PC DOWNLOAD, BUILD(#20090216)
- *
- * Confidential Information of Havok. (C) Copyright 1999-2009
- * Telekinesys Research Limited t/a Havok. All Rights Reserved. The Havok
- * Logo, and the Havok buzzsaw logo are trademarks of Havok. Title, ownership
- * rights, and intellectual property rights in the Havok software remain in
- * Havok and/or its suppliers.
- *
- * Use of this software for evaluation purposes is subject to and indicates
- * acceptance of the End User licence Agreement for this product. A copy of
- * the license is included with this software and is also available at www.havok.com/tryhavok.
- *
- */