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// TokaPhisic.h: interface for the CTokaPhisic class.
//
//////////////////////////////////////////////////////////////////////
#if !defined(AFX_TOKAPHISIC_H__B03F208F_A914_40EA_A407_6BBF8F599686__INCLUDED_)
#define AFX_TOKAPHISIC_H__B03F208F_A914_40EA_A407_6BBF8F599686__INCLUDED_
#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000
//#include "ProjectSpace.h"
#include "include\tokamak.h"
#define TOKA1_2
#include "Core\Phisics\BasePhisic.h"
using namespace Phisic;
struct CTokaSectorParams
{
int NumRigits,
NumAnimated,
NumGeometry,
NumRigidParticles,
OverlappedCount,
ConstraintsCount,
SensorsCount;
};
class CTokaSimulator;
class DLLTYPE CTokaGeometry:public CBaseGemetry
{
neGeometry * geom;
public:
CTokaGeometry(neGeometry* geom);
virtual void SetBox(bVector3f Sizes);
virtual void SetSphere(float Rad);
virtual void SetCylinder(float Rad,float Height);
virtual void SetMaterial(DWORD mid);
virtual DWORD GetMaterial();
void SetTransform(neT3 &Transform);
};
class DLLTYPE CTokaRigid:public CBasePhisic
{
neRigidBody *Body;
CTokaSimulator *MySim;
float Mass,IMass;
neV3 Inertia;
bool _IsParticle;
public:
void SetBody(neRigidBody *Body);
neRigidBody *GetBody();
CTokaRigid(CTokaSimulator *Sim);
~CTokaRigid();
void SetMass(float Mass);
void SetItertiaMass(float Mass);
float GetMass();
void SetInertiaTensor(bVector3f Intertion);
void SetInertiaBox (bVector3f BoxParams);
void SetInertiaSphere(float Rad);
void SetInertiaCylinder (float diameter, float height);
void Apply();
CBaseGemetry *AddGeometry();
void UpdateGeometry();
void GetPos(bVector3f &Pos);
void SetPos(bVector3f &Pos);
void GetRotationM3(bVector3f &Rot,float &Angle);
void SetRotationForceM3(const bVector3f &Rot,const float &Angle);
nMatrix GetTransform();
neT3 GetRealTransform();
void SetSpeed (bVector3f &Speed);
void GetSpeed (bVector3f &Speed);
void GetVelocityAtPoint(const bVector3f & Point,bVector3f &Speed);
void AddImpulse(bVector3f &Impulse);
void AddImpulseWithTwist(bVector3f &Impulse,bVector3f &Pos);
virtual void SetCollisionClass(DWORD Class);
virtual DWORD GetCollisionClass();
virtual void EnableGravity(bool Enable);
bool IsParticle(){return _IsParticle;}
void IsParticle(bool F){_IsParticle=F;}
virtual bool CollideConnected(bool Enable);
virtual void SetSleepingParameter(float param);
virtual void SetRotation(LPCVOID Q);
virtual void SetRotation(bVector3f &Rot,float &Angle);
virtual CBaseSensor * AddSensor();
virtual CBaseController * AddController(CBaseController * BaseControler);
virtual void BeginIterateSensor();
virtual CBaseSensor * GetNextSensor();
};
class DLLTYPE CTokaAnimated:public CBasePhisic
{
neAnimatedBody *Body;
CTokaSimulator *MySim;
public:
void SetBody(neAnimatedBody *Body);
neAnimatedBody *GetBody();
CTokaAnimated(CTokaSimulator *Sim);
~CTokaAnimated();
CBaseGemetry *AddGeometry();
void UpdateGeometry();
void GetPos(bVector3f &Pos);
void SetPos(bVector3f &Pos);
void GetRotationM3(bVector3f &Rot,float Angle);
nMatrix GetTransform();
virtual void SetCollisionClass(DWORD Class);
virtual DWORD GetCollisionClass();
};
class DLLTYPE CTokaSensor : public CBaseSensor
{
neSensor *Sensor;
public:
CTokaSensor(neSensor *s);
virtual void SetLineSensor(bVector3f &Pos,bVector3f &Dir);
virtual bVector3f GetDetectContactPoint();
virtual float GetDetectDepth();
virtual bVector3f GetDetectNormal();
virtual bVector3f GetLinePos();
virtual bVector3f GetLineUnitVector();
};
class DLLTYPE CTokaController: public CBaseController
{
neRigidBodyController *Controller;
public:
CTokaController(neRigidBodyController *c);
virtual void SetControllerForce (bVector3f &Forse);
virtual void SetControllerTorque(bVector3f &Forse);
neRigidBodyController *GetController(){return Controller;}
neRigidBodyControllerCallback *GetControllerCallback(){return NULL;}
};
class DLLTYPE CTokaJoint: public CBaseJoint
{
neJoint *Joint;
CTokaSimulator *MySim;
public:
CTokaJoint(CTokaSimulator *_MySim);
void SetJoint(neJoint *_Joint);
virtual void SetType(phJointTypes Type);
virtual void SetJointFrameWorld(float *T4);
virtual void SetJointFrameA (float *T4);
virtual void SetJointFrameB (float *T4);
virtual void SetUpperLimit (float limit);
virtual void SetLowerLimit (float limit);
virtual bool EnableLimit(bool Enable);
virtual void SetUpperLimit2 (float limit);
virtual void SetLowerLimit2 (float limit);
virtual bool EnableLimit2(bool Enable);
virtual bool Enable(bool Enable);
virtual void SetIteration(int Iterations);
};
typedef SmartVector<CTokaRigid*> RigitsArray;
class DLLTYPE CTokaSimulator:public CBasePhisicSim
{
neAllocatorDefault all;
CTokaSectorParams PhParams;
neSimulator *sim;
RigitsArray Rigits;
SmartVector<CTokaAnimated*> Animateds;
SmartVector<phCollisionTableElem> CollTable;
SmartVector<CBasePhisic *>RigedDeleted;
SmartVector<CBasePhisic *>AnimatedDeleted;
void _DeleteAnimated(CBasePhisic *Obj);
void _DeleteRigid(CBasePhisic *Obj);
int NumRigitParticles,NumRigits,NumAnimated;
public:
CTokaSimulator();
~CTokaSimulator();
CBasePhisic *CreateRigid();
CBasePhisic *CreateRigidParticle();
void DeleteRigid(CBasePhisic *Obj);
CBasePhisic *CreateAnimated();
void DeleteAnimated(CBasePhisic *Obj);
CBaseJoint * CreateJoint(CBasePhisic*A,CBasePhisic*B);
DWORD CreateMaterial(DWORD index,CBaseMaterial &Mat);
DWORD GetMaterial (DWORD index,CBaseMaterial &Mat);
void PrepareMark();
void DeleteMarked();
void SetParams(CTokaSectorParams &Params);
void Create(CTokaSectorParams *Params=NULL);
virtual bool Start();
virtual void Stop ();
void TickCycle();
DWORD VTick(float Time);
virtual DWORD Tick (float Time);
GString GetName(){return "TOKAMAK DRIVER";}
virtual void AddBlow(bVector3f Position,float Rad,float Force);
virtual void SetCollisionAction(DWORD O1,DWORD O2,phCollisionReponseBitFlag Action,phCollisionCallBack CB=COLLNULL);
void MakeColl(BodyCollInfo *B1,BodyCollInfo* B2,neCollisionInfo & collisionInfo);
void CheckLifeTime(float DeltaTime);
bool Prepare();
bool AwaitSnapShot();
};
typedef CTokaSimulator* PTokaSimulator;
extern CTokaSimulator* DefSim;
nMatrix tokaNET3_TO_MATRIX4X4f(neT3 &T);
#define NET3_TO_MATRIX4X4f(T, tmat ) \
T.Set( tmat.rot[0][0], tmat.rot[1][0], tmat.rot[2][0], tmat.pos[0], \
tmat.rot[0][1], tmat.rot[1][1], tmat.rot[2][1], tmat.pos[1], \
tmat.rot[0][2], tmat.rot[1][2], tmat.rot[2][2], tmat.pos[2], \
0.0f, 0.0f, 0.0f, 1.0f );
#endif // !defined(AFX_TOKAPHISIC_H__B03F208F_A914_40EA_A407_6BBF8F599686__INCLUDED_)
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