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PhysicsJoint.h File Reference

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Typedefs

typedef gePhysicsJoint gePhysicsJoint

Enumerations

enum  gePhysicsJoint_Kind { JT_WORLD = 0, JT_SPHERICAL, JT_PTTOPATH, JT_PTTOSURFACE }

Functions

GENESISAPI gePhysicsJoint
*GENESISCC 		gePhysicsJoint_Create (gePhysicsJoint_Kind Kind, const geVec3d *Location, geFloat assemblyRate, gePhysicsObject *PS1, gePhysicsObject *PS2, geFloat physicsScale)
GENESISAPI geBoolean GENESISCC gePhysicsJoint_Destroy (gePhysicsJoint **ppPhysjnt)
GENESISAPI gePhysicsJoint_Kind
GENESISCC 		gePhysicsJoint_GetType (const gePhysicsJoint *pPhysjnt)
GENESISAPI void GENESISCC gePhysicsJoint_GetLocationA (const gePhysicsJoint *pPhysjnt, geVec3d *pLoc)
GENESISAPI void GENESISCC gePhysicsJoint_GetLocationB (const gePhysicsJoint *pPhysjnt, geVec3d *pLoc)
GENESISAPI void GENESISCC gePhysicsJoint_SetLocationA (gePhysicsJoint *pPhysjnt, const geVec3d *pLoc)
GENESISAPI void GENESISCC gePhysicsJoint_SetLocationB (gePhysicsJoint *pPhysjnt, const geVec3d *pLoc)
GENESISAPI void GENESISCC gePhysicsJoint_GetLocationAInWorldSpace (const gePhysicsJoint *pPhysjnt, geVec3d *pLoc)
GENESISAPI void GENESISCC gePhysicsJoint_GetLocationBInWorldSpace (const gePhysicsJoint *pPhysjnt, geVec3d *pLoc)
GENESISAPI void GENESISCC gePhysicsJoint_SetLocationAInWorldSpace (gePhysicsJoint *pPhysjnt, const geVec3d *pLoc)
GENESISAPI void GENESISCC gePhysicsJoint_SetLocationBInWorldSpace (gePhysicsJoint *pPhysjnt, const geVec3d *pLoc)
GENESISAPI gePhysicsObject
*GENESISCC 		gePhysicsJoint_GetObject1 (const gePhysicsJoint *pPhysjnt)
GENESISAPI gePhysicsObject
*GENESISCC 		gePhysicsJoint_GetObject2 (const gePhysicsJoint *pPhysjnt)
GENESISAPI geFloat GENESISCC gePhysicsJoint_GetAssemblyRate (const gePhysicsJoint *pPhysjnt)
GENESISAPI void GENESISCC gePhysicsJoint_SetAssemblyRate (gePhysicsJoint *pPhysjnt, geFloat assemblyRate)

Typedef Documentation

typedef struct gePhysicsJoint gePhysicsJoint
 

Definition at line 37 of file PhysicsJoint.h.

Enumeration Type Documentation

enum gePhysicsJoint_Kind
 

Enumeration values:
JT_WORLD 
JT_SPHERICAL 
JT_PTTOPATH 
JT_PTTOSURFACE 

Definition at line 29 of file PhysicsJoint.h.

Referenced by gePhysicsJoint_GetType(), gePhysicsSystem_AddJoint(), and gePhysicsSystem_EnforceConstraints(). 

00030 {
00031         JT_WORLD = 0,
00032         JT_SPHERICAL,
00033         JT_PTTOPATH,
00034         JT_PTTOSURFACE
00035 }       gePhysicsJoint_Kind;

Function Documentation

GENESISAPI gePhysicsJoint* GENESISCC gePhysicsJoint_Create (  gePhysicsJoint_Kind  Kind,
const geVec3d *  Location,
geFloat  assemblyRate,
gePhysicsObject *  PS1,
gePhysicsObject *  PS2,
geFloat  physicsScale
) 
 

Definition at line 48 of file PhysicsJoint.c.

References gePhysicsJoint::assemblyRate, GE_RAM_ALLOCATE_STRUCT, GENESISAPI, GENESISCC, gePhysicsObject_GetLocation(), geVec3d_Copy(), geVec3d_Scale(), geVec3d_Subtract(), JOINT_ASSEMBLY_RATE_MULTIPLIER, JT_SPHERICAL, JT_WORLD, gePhysicsJoint::locationA, gePhysicsJoint::locationB, NULL, gePhysicsJoint::Object1, gePhysicsJoint::Object2, and gePhysicsJoint::Type.

Referenced by PhysicsJoint_Spawn(). 

00050 {
00051         gePhysicsJoint* pPhysjnt;
00052         geVec3d         POLocation;
00053         geVec3d         physicsSpaceLocation;
00054 
00055         pPhysjnt = NULL;
00056         pPhysjnt = GE_RAM_ALLOCATE_STRUCT(gePhysicsJoint);
00057         if (pPhysjnt == NULL)
00058         {
00059                 return NULL;
00060         }
00061 
00063         // make sure the joint makes sense
00064 
00065         pPhysjnt->Type = Kind;
00066         pPhysjnt->assemblyRate = assemblyRate * JOINT_ASSEMBLY_RATE_MULTIPLIER;
00067         pPhysjnt->Object1 = PS1;
00068         pPhysjnt->Object2 = PS2;
00069 
00070         geVec3d_Scale(Location, physicsScale, &physicsSpaceLocation);
00071 
00072         switch (Kind)
00073         {
00074                 case JT_WORLD:
00075                         if (PS1 == NULL)
00076                         {
00077                                 /*
00078                                 GenVSI_Error(VSI, 
00079                                         GE_FALSE, 
00080                                         "Joint_Spawn: World joint needs non-NULL gePhysicsObject1 field.\n");
00081                                 */
00082                                 return NULL;
00083                         }
00084                         #if 0
00085                         if (pJoint->Next == pJoint)
00086                         {
00087                                 /*
00088                                 GenVSI_Error(VSI, 
00089                                         GE_FALSE, 
00090                                         "Joint_Spawn: Next field points to parent.\n");
00091                                 */
00092                                 return NULL;
00093                         }
00094                         #endif
00095                         
00096                         gePhysicsObject_GetLocation(PS1, &POLocation, 0);
00097 
00098                         geVec3d_Subtract(&physicsSpaceLocation,
00099                                 &POLocation,
00100                                 &pPhysjnt->locationA);
00101                         geVec3d_Copy(&physicsSpaceLocation, &pPhysjnt->locationB);
00102                         break;
00103 
00104                 case JT_SPHERICAL:
00105                         if (PS1 == NULL || PS2 == NULL)
00106                         {
00107                                 /*
00108                                 GenVSI_Error(VSI, 
00109                                         GE_FALSE, 
00110                                         "Joint_Spawn: Spherical joint needs 2 non-NULL gePhysicsObjects.\n");
00111                                 */
00112                                 return NULL;
00113                         }
00114                         #if 0
00115                         if (pJoint->Next == pJoint)
00116                         {
00117                                 /*
00118                                 GenVSI_Error(VSI, 
00119                                         GE_FALSE, 
00120                                         "Joint_Spawn: Next field points to parent.\n");
00121                                 */
00122                         }
00123                         #endif
00124                         if (PS1 == PS2)
00125                         {
00126                                 /*
00127                                 GenVSI_Error(VSI, 
00128                                         GE_FALSE, 
00129                                         "Joint_Spawn: Spherical joint: need 2 distinct gePhysicsObjects.\n");
00130                                 */
00131                                 return NULL;
00132                         }
00133 
00134                         gePhysicsObject_GetLocation(PS1, &POLocation, 0);
00135                         geVec3d_Subtract(&physicsSpaceLocation,
00136                                 &POLocation,
00137                                 &pPhysjnt->locationA);
00138 
00139                         gePhysicsObject_GetLocation(PS2, &POLocation, 0);
00140                         geVec3d_Subtract(&physicsSpaceLocation,
00141                                 &POLocation,
00142                                 &pPhysjnt->locationB);
00143                         break;
00144 
00145                 default:
00146                         /*
00147                         GenVSI_Error(VSI, 
00148                                 GE_FALSE, 
00149                                 "Joint_Spawn: unsupported joint type %d.\n", ij->jointType);
00150                         */
00151                         return NULL;
00152         }
00153 
00154         return pPhysjnt;
00155 }

GENESISAPI geBoolean GENESISCC gePhysicsJoint_Destroy (  gePhysicsJoint **  ppPhysjnt  ) 
 

Definition at line 157 of file PhysicsJoint.c.

References GE_TRUE, geBoolean, GENESISAPI, GENESISCC, geRam_Free, and NULL.

Referenced by PhysicsJoint_Destroy(). 

00158 {
00159         assert(ppPhysjnt != NULL);
00160         assert(*ppPhysjnt != NULL);
00161 
00162         geRam_Free(*ppPhysjnt);
00163 
00164         *ppPhysjnt = NULL;
00165 
00166         return GE_TRUE;
00167 }

GENESISAPI geFloat GENESISCC gePhysicsJoint_GetAssemblyRate (  const gePhysicsJoint *  pPhysjnt  ) 
 

Definition at line 254 of file PhysicsJoint.c.

References gePhysicsJoint::assemblyRate, geFloat, GENESISAPI, GENESISCC, and NULL.

Referenced by gePhysicsSystem_EnforceConstraints(). 

00255 {
00256         assert(pPhysjnt != NULL);
00257 
00258         return pPhysjnt->assemblyRate;
00259 }

GENESISAPI void GENESISCC gePhysicsJoint_GetLocationA (  const gePhysicsJoint *  pPhysjnt,
geVec3d *  pLoc
) 
 

Definition at line 176 of file PhysicsJoint.c.

References GENESISAPI, GENESISCC, geVec3d_Copy(), gePhysicsJoint::locationA, and NULL.

Referenced by gePhysicsSystem_EnforceConstraints(). 

00177 {
00178         assert(pPhysjnt != NULL);
00179         assert(pLoc != NULL);
00180         
00181         geVec3d_Copy(&pPhysjnt->locationA, pLoc);
00182 }

GENESISAPI void GENESISCC gePhysicsJoint_GetLocationAInWorldSpace (  const gePhysicsJoint *  pPhysjnt,
geVec3d *  pLoc
) 
 

Definition at line 208 of file PhysicsJoint.c.

References GENESISAPI, GENESISCC, geVec3d_Copy(), gePhysicsJoint::locationAInWorldSpace, and NULL.

Referenced by gePhysicsSystem_EnforceConstraints(). 

00209 {
00210         assert(pPhysjnt != NULL);
00211         assert(pLoc != NULL);
00212         
00213         geVec3d_Copy(&pPhysjnt->locationAInWorldSpace, pLoc);
00214 }

GENESISAPI void GENESISCC gePhysicsJoint_GetLocationB (  const gePhysicsJoint *  pPhysjnt,
geVec3d *  pLoc
) 
 

Definition at line 184 of file PhysicsJoint.c.

References GENESISAPI, GENESISCC, geVec3d_Copy(), gePhysicsJoint::locationB, and NULL.

Referenced by gePhysicsSystem_EnforceConstraints(). 

00185 {
00186         assert(pPhysjnt != NULL);
00187         assert(pLoc != NULL);
00188         
00189         geVec3d_Copy(&pPhysjnt->locationB, pLoc);
00190 }

GENESISAPI void GENESISCC gePhysicsJoint_GetLocationBInWorldSpace (  const gePhysicsJoint *  pPhysjnt,
geVec3d *  pLoc
) 
 

Definition at line 216 of file PhysicsJoint.c.

References GENESISAPI, GENESISCC, geVec3d_Copy(), gePhysicsJoint::locationBInWorldSpace, and NULL.

Referenced by gePhysicsSystem_EnforceConstraints(). 

00217 {
00218         assert(pPhysjnt != NULL);
00219         assert(pLoc != NULL);
00220         
00221         geVec3d_Copy(&pPhysjnt->locationBInWorldSpace, pLoc);
00222 }

GENESISAPI gePhysicsObject* GENESISCC gePhysicsJoint_GetObject1 (  const gePhysicsJoint *  pPhysjnt  ) 
 

Definition at line 240 of file PhysicsJoint.c.

References GENESISAPI, GENESISCC, NULL, and gePhysicsJoint::Object1.

Referenced by gePhysicsSystem_EnforceConstraints(). 

00241 {
00242         assert(pPhysjnt != NULL);
00243 
00244         return pPhysjnt->Object1;
00245 }

GENESISAPI gePhysicsObject* GENESISCC gePhysicsJoint_GetObject2 (  const gePhysicsJoint *  pPhysjnt  ) 
 

Definition at line 247 of file PhysicsJoint.c.

References GENESISAPI, GENESISCC, NULL, and gePhysicsJoint::Object2.

Referenced by gePhysicsSystem_EnforceConstraints(). 

00248 {
00249         assert(pPhysjnt != NULL);
00250 
00251         return pPhysjnt->Object2;
00252 }

GENESISAPI gePhysicsJoint_Kind GENESISCC gePhysicsJoint_GetType (  const gePhysicsJoint *  pPhysjnt  ) 
 

Definition at line 169 of file PhysicsJoint.c.

References GENESISAPI, GENESISCC, gePhysicsJoint_Kind, NULL, and gePhysicsJoint::Type.

Referenced by gePhysicsSystem_AddJoint(), and gePhysicsSystem_EnforceConstraints(). 

00170 {
00171         assert(pPhysjnt != NULL);
00172 
00173         return pPhysjnt->Type;
00174 }

GENESISAPI void GENESISCC gePhysicsJoint_SetAssemblyRate (  gePhysicsJoint *  pPhysjnt,
geFloat  assemblyRate
) 
 

Definition at line 261 of file PhysicsJoint.c.

References gePhysicsJoint::assemblyRate, geFloat, GENESISAPI, GENESISCC, and NULL. 

00262 {
00263         assert(pPhysjnt != NULL);
00264         assert(assemblyRate >= (geFloat)(1e-5));
00265 
00266         pPhysjnt->assemblyRate = assemblyRate;
00267 }

GENESISAPI void GENESISCC gePhysicsJoint_SetLocationA (  gePhysicsJoint *  pPhysjnt,
const geVec3d *  pLoc
) 
 

Definition at line 192 of file PhysicsJoint.c.

References GENESISAPI, GENESISCC, geVec3d_Copy(), gePhysicsJoint::locationA, and NULL. 

00193 {
00194         assert(pPhysjnt != NULL);
00195         assert(pLoc != NULL);
00196         
00197         geVec3d_Copy(pLoc, &pPhysjnt->locationA);
00198 }

GENESISAPI void GENESISCC gePhysicsJoint_SetLocationAInWorldSpace (  gePhysicsJoint *  pPhysjnt,
const geVec3d *  pLoc
) 
 

Definition at line 224 of file PhysicsJoint.c.

References GENESISAPI, GENESISCC, geVec3d_Copy(), gePhysicsJoint::locationAInWorldSpace, and NULL.

Referenced by gePhysicsSystem_EnforceConstraints(). 

00225 {
00226         assert(pPhysjnt != NULL);
00227         assert(pLoc != NULL);
00228         
00229         geVec3d_Copy(pLoc, &pPhysjnt->locationAInWorldSpace);
00230 }

GENESISAPI void GENESISCC gePhysicsJoint_SetLocationB (  gePhysicsJoint *  pPhysjnt,
const geVec3d *  pLoc
) 
 

Definition at line 200 of file PhysicsJoint.c.

References GENESISAPI, GENESISCC, geVec3d_Copy(), gePhysicsJoint::locationB, and NULL. 

00201 {
00202         assert(pPhysjnt != NULL);
00203         assert(pLoc != NULL);
00204         
00205         geVec3d_Copy(pLoc, &pPhysjnt->locationB);
00206 }

GENESISAPI void GENESISCC gePhysicsJoint_SetLocationBInWorldSpace (  gePhysicsJoint *  pPhysjnt,
const geVec3d *  pLoc
) 
 

Definition at line 232 of file PhysicsJoint.c.

References GENESISAPI, GENESISCC, geVec3d_Copy(), gePhysicsJoint::locationBInWorldSpace, and NULL.

Referenced by gePhysicsSystem_EnforceConstraints(). 

00233 {
00234         assert(pPhysjnt != NULL);
00235         assert(pLoc != NULL);
00236         
00237         geVec3d_Copy(pLoc, &pPhysjnt->locationBInWorldSpace);
00238 }

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