subspace.h

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/*
    Sheep - A Rigid Body Dynamics Engine
    Copyright (C) 2001-2004 Francois Beaune
    Contact: http://toxicengine.sourceforge.net/

    This file is part of Sheep.

    Sheep is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    Sheep is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with Sheep; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#ifndef SHEEP_SIMULATION_SUBSPACE_H
#define SHEEP_SIMULATION_SUBSPACE_H

#include "common/math/de.h"
#include "common/math/real.h"
#include "engine/dynamics/contact.h"
#include "engine/dynamics/contacthandler.h"
#include "engine/dynamics/joints.h"
#include "engine/dynamics/rigidbody.h"
#include "engine/geometry/swiftcollisiondetector.h"

#include <cassert>
#include <list>

namespace sheep {

    class RigidObject;
    class World;

    class Subspace {
    public:
        inline void Insert(RigidObject *object, bool collide);      //!\todo 'collide' is a buggy quick hack!
        inline void Remove(RigidObject *object);

        inline void Insert(Joint *joint);
        inline void Remove(Joint *joint);

        inline void Setup();

        inline void AttachTo(World *world);

        void Step(Real start_time, Real end_time);

    private:
        DE1RK4Solver<RigidBody::StateVector> m_solver;
//      DE1EulerSolver<RigidBody::StateVector> m_solver;

        SWIFTCollisionDetector m_cd;
        ContactHandler m_ch;
        JointManager m_jm;

        typedef std::list<RigidObject *> rigidobject_list;

        rigidobject_list m_objects;

        World *m_world;

        struct state_snapshot {
            RigidBody::StateVector *m_states;
        };

        void save_state(state_snapshot *s);
        void restore_state(const state_snapshot &s);

        void find_contacts();
        Real compute_step_end(Real start_time, Real end_time);
        void step_bodies(Real time, Real step);
    };

#include "subspace.inl"

}

#endif  // !SHEEP_SIMULATION_SUBSPACE_H

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