00001 /* **-*-c++-*-************************************************************** 00002 Copyright (C)2002 David Jung <opensim@pobox.com> 00003 00004 This program/file is free software; you can redistribute it and/or modify 00005 it under the terms of the GNU General Public License as published by 00006 the Free Software Foundation; either version 2 of the License, or 00007 (at your option) any later version. 00008 00009 This program is distributed in the hope that it will be useful, 00010 but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00012 GNU General Public License for more details. (http://www.gnu.org) 00013 00014 You should have received a copy of the GNU General Public License 00015 along with this program; if not, write to the Free Software 00016 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00017 00018 $Id: ContactConstraint 1031 2004-02-11 20:46:36Z jungd $ 00019 $Revision: 1.1 $ 00020 $Date: 2004-02-11 15:46:36 -0500 (Wed, 11 Feb 2004) $ 00021 $Author: jungd $ 00022 00023 ****************************************************************************/ 00024 00025 #ifndef _PHYSICS_CONTACTCONSTRAINT_ 00026 #define _PHYSICS_CONTACTCONSTRAINT_ 00027 00028 #include <physics/physics> 00029 #include <physics/Constraint> 00030 #include <physics/Body> 00031 00032 namespace physics { 00033 00034 00035 class ContactConstraint : virtual public Constraint 00036 { 00037 public: 00038 ContactConstraint() {} 00039 virtual ~ContactConstraint() {} 00040 00041 virtual void attach(ref<Body> body1, ref<Body> body2) = 0; ///< attach this constraint to two bodies 00042 virtual ref<Body> getBody(Int index) = 0; ///< get Body (index is 1 or 2); returns null if unattached 00043 virtual ref<const Body> getBody(Int index) const = 0; 00044 00045 virtual void setContactPosition(const Point3& pos) = 0; ///< set contact point (in body1 frame) 00046 virtual void setContactNormal(const Vector3& normal) = 0; ///< set contact normal (in body1 frame) 00047 virtual void setContactDepth(Real depth) = 0; ///< set contact depth 00048 00049 virtual void setParameter(const String& name, Real value, Int dof=1) 00050 { Constraint::setParameter(name, value, dof); } 00051 00052 }; 00053 00054 00055 } // physics 00056 00057 #endif
1.3.6