54 lines
1.6 KiB
C++
54 lines
1.6 KiB
C++
// Filename: baseIntegrator.h
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// Created by: charles (11Aug00)
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//
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////////////////////////////////////////////////////////////////////
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#ifndef BASEINTEGRATOR_H
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#define BASEINTEGRATOR_H
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#include <pandabase.h>
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#include <pointerTo.h>
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#include <referenceCount.h>
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#include <luse.h>
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#include "linearForce.h"
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#include "angularForce.h"
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#include <vector>
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class Physical;
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////////////////////////////////////////////////////////////////////
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// Class : BaseIntegrator
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// Description : pure virtual integrator class that holds cached
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// matrix information that really should be common to
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// any possible child implementation.
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////////////////////////////////////////////////////////////////////
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class EXPCL_PANDAPHYSICS BaseIntegrator : public ReferenceCount {
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private:
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// since the wrt for each physicsobject between its physicalnode
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// and however many forces will be the same among one physical,
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// the transformation matrices can be pulled out of the inner loop
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// and precomputed.
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vector< LMatrix4f > _precomputed_linear_matrices;
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vector< LMatrix4f > _precomputed_angular_matrices;
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protected:
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BaseIntegrator(void);
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INLINE const vector< LMatrix4f > &get_precomputed_linear_matrices(void) const;
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INLINE const vector< LMatrix4f > &get_precomputed_angular_matrices(void) const;
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void precompute_linear_matrices(Physical *physical,
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const vector< PT(LinearForce) > &forces);
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void precompute_angular_matrices(Physical *physical,
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const vector< PT(AngularForce) > &forces);
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public:
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virtual ~BaseIntegrator(void);
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};
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#include "baseIntegrator.I"
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#endif // BASEINTEGRATOR_H
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