Newton Dynamics  4.00
ndCharacter.h
1 /* Copyright (c) <2003-2022> <Julio Jerez, Newton Game Dynamics>
2 *
3 * This software is provided 'as-is', without any express or implied
4 * warranty. In no event will the authors be held liable for any damages
5 * arising from the use of this software.
6 *
7 * Permission is granted to anyone to use this software for any purpose,
8 * including commercial applications, and to alter it and redistribute it
9 * freely, subject to the following restrictions:
10 *
11 * 1. The origin of this software must not be misrepresented; you must not
12 * claim that you wrote the original software. If you use this software
13 * in a product, an acknowledgment in the product documentation would be
14 * appreciated but is not required.
15 *
16 * 2. Altered source versions must be plainly marked as such, and must not be
17 * misrepresented as being the original software.
18 *
19 * 3. This notice may not be removed or altered from any source distribution.
20 */
21 
22 #ifndef __ND_CHARACTER_H__
23 #define __ND_CHARACTER_H__
24 
25 #include "ndNewtonStdafx.h"
26 #include "ndModel.h"
27 
28 class ndWorld;
29 class ndCharacterNode;
30 class ndIk6DofEffector;
32 class ndCharacterSkeleton;
35 
36 //class ndCharacterCentreOfMassState
37 //{
38 // public:
39 // dVector m_centerOfMass;
40 // dVector m_centerOfMassVeloc;
41 // ndFloat32 m_mass;
42 //};
43 
44 class ndCharacter: public ndModel
45 {
46  public:
48  {
49  public:
50  ndMatrix m_bindMatrix;
51  ndCharacterNode* m_controlNode;
52  ndIk6DofEffector* m_effector;
53  };
54 
55  D_CLASS_REFLECTION(ndCharacter);
56  D_NEWTON_API ndCharacter();
57  D_NEWTON_API ndCharacter(const ndLoadSaveBase::ndLoadDescriptor& desc);
58  D_NEWTON_API virtual ~ndCharacter ();
59 
60  D_NEWTON_API ndCharacterRootNode* CreateRoot(ndBodyDynamic* const body);
61  D_NEWTON_API ndCharacterForwardDynamicNode* CreateForwardDynamicLimb(const ndMatrix& matrixInGlobalSpace, ndBodyDynamic* const body, ndCharacterNode* const parent);
62  D_NEWTON_API ndCharacterInverseDynamicNode* CreateInverseDynamicLimb(const ndMatrix& matrixInGlobalSpace, ndBodyDynamic* const body, ndCharacterNode* const parent);
63 
64  ndCharacter* GetAsCharacter();
65  ndCharacterRootNode* GetRootNode() const;
66 
67  D_NEWTON_API void AddAttachment(ndJointBilateralConstraint* const joint);
68  D_NEWTON_API void RemoveAttachment(ndJointBilateralConstraint* const joint);
69 
70  D_NEWTON_API void CreateKinematicChain(const ndMatrix& globalOrientation, const ndCharacterNode* const node);
71 
72  //ndCharacterPoseController* GetController() const;
73  //void SetController(ndCharacterPoseController* const controller);
74  //ndCharacterCentreOfMassState CalculateCentreOfMassState() const;
75  //void UpdateGlobalPose(ndWorld* const world, ndFloat32 timestep);
76  //void CalculateLocalPose(ndWorld* const world, ndFloat32 timestep);
77  //D_NEWTON_API ndCharacterSkeleton* CreateSkeleton() const;
78  D_NEWTON_API void SetPose();
79 
80  protected:
81  D_NEWTON_API virtual void Debug(ndConstraintDebugCallback& context) const;
82  D_NEWTON_API virtual void Update(ndWorld* const world, ndFloat32 timestep);
83  D_NEWTON_API virtual void PostUpdate(ndWorld* const world, ndFloat32 timestep);
84  D_NEWTON_API virtual void Save(const ndLoadSaveBase::ndSaveDescriptor& desc) const;
85 
86  ndCharacterRootNode* m_rootNode;
87  //ndCharacterPoseController* m_controller;
88  ndList<ndEffetorInfo> m_effectors;
89  ndList<ndJointBilateralConstraint*> m_extraJointAttachments;
90 };
91 
92 inline ndCharacter* ndCharacter::GetAsCharacter()
93 {
94  return this;
95 }
96 
97 //inline ndCharacterPoseController* ndCharacter::GetController() const
98 //{
99 // return m_controller;
100 //}
101 //
102 //inline void ndCharacter::SetController(ndCharacterPoseController* const controller)
103 //{
104 // m_controller = controller;
105 //}
106 
107 inline ndCharacterRootNode* ndCharacter::GetRootNode() const
108 {
109  return m_rootNode;
110 }
111 
112 #endif
ndModel
Definition: ndModel.h:33
ndCharacterNode
Definition: ndCharacterNode.h:95
ndCharacterRootNode
Definition: ndCharacterRootNode.h:29
ndCharacter
Definition: ndCharacter.h:45
ndBodyDynamic
Definition: ndBodyDynamic.h:43
ndJointBilateralConstraint
Definition: ndJointBilateralConstraint.h:53
ndConstraintDebugCallback
Definition: ndConstraint.h:42
ndCharacterInverseDynamicNode
Definition: ndCharacterInverseDynamicNode.h:29
ndMatrix
Definition: ndMatrix.h:42
ndList
Definition: ndList.h:33
ndIk6DofEffector
Definition: ndIk6DofEffector.h:19
ndCharacterForwardDynamicNode
Definition: ndCharacterForwardDynamicNode.h:31
ndLoadSaveBase::ndLoadDescriptor
Definition: ndSaveLoadSytem.h:59
ndLoadSaveBase::ndSaveDescriptor
Definition: ndSaveLoadSytem.h:93
ndCharacter::ndEffetorInfo
Definition: ndCharacter.h:48
ndWorld
Definition: ndWorld.h:47