RBD/RBD_Utils.h

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/*
 * PROPRIETARY INFORMATION.  This software is proprietary to
 * Side Effects Software Inc., and is not to be reproduced,
 * transmitted, or disclosed in any way without written permission.
 *
 * Produced by:
 *      Side Effects Software Inc.
 *      477 Richmond Street West, Suite 1001
 *      Toronto, Ontario
 *      Canada   M5V 3E7
 *      416-504-9876
 */

#ifndef __RBD_Utils_h__
#define __RBD_Utils_h__

#include "RBD_API.h"

#include <SIM/SIM_Utils.h>
#include <UT/UT_SysSpecific.h>
#include <UT/UT_Vector3.h>

// Parameter and SimpleData names for data.
#define RBD_NAME_ITENSOR                "itensor"
#define RBD_NAME_ITENSORLOCALINV        "itensorlocalinv"
#define RBD_NAME_MASS                   "mass"
#define RBD_NAME_COMPUTEMASS            "computemass"
#define RBD_NAME_DENSITY                "density"
#define RBD_NAME_COMPUTECOM             "computecom"
#define RBD_NAME_COMPUTEINERTIALTENSOR  "computeinertialtensor"
#define RBD_NAME_COMPUTEINERTIALTENSORTYPE "computeinertialtensortype"
#define RBD_NAME_INERTIALTENSORSTIFFNESS "inertialtensorstiffness"
#define RBD_NAME_USEPOINTVELOCITY       "usepointvelocity"
#define RBD_NAME_USESDFVELOCITY         "usevolumevelocity"
#define RBD_NAME_INHERITVELOCITY        "inheritvelocity"
#define RBD_NAME_GLUEOBJECT             "glueobject"
#define RBD_NAME_GLUETHRESHOLD          "gluethreshold"
#define RBD_NAME_GLUEIMPULSE            "glueimpulse"
#define RBD_NAME_GLUEIMPULSEHALFLIFE    "glueimpulsehalflife"
#define RBD_NAME_CULLMODE               "cullmode"      
#define RBD_NAME_ADDIMPACTS             "addimpacts"
#define RBD_NAME_CONTACTGROUPMETHOD     "contactgroupmethod"
#define RBD_NAME_CONTACTGROUPTOL        "contactgrouptol"
#define RBD_NAME_POLYCONVERT            "polyconvert"
#define RBD_NAME_POLYLOD                "polylod"
#define RBD_NAME_ADDBARYCENTER          "addbarycenter"
#define RBD_NAME_TRIANGULATE            "triangulate"


// Call this initialization function to register all data types, solvers,
// and colliders in this library.
RBD_API void     initializeRBD();


class RBD_SphereTreeNode;
#if 0
class RBD_API rbd_isect : public sim_isect
{
public:
    rbd_isect(const UT_Vector3 &position, 
             const UT_Vector3 &normal,
             fpreal isectdepth)
            : sim_isect(position, normal),
              depth (isectdepth)
    { }
    fpreal depth;
    virtual fpreal getPriority() const 
    { return depth; }
};
#endif

class RBD_API rbd_nodeentry
{
public:
    const RBD_SphereTreeNode    *node;

    /// This is the minimum value the sdf can have within this
    /// node.
    fpreal               dist_minus_radius;
};

class RBD_API rbd_nodeentryCompare
{
public:
    bool                isLess(rbd_nodeentry *a, rbd_nodeentry *b);
};

#endif

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