physics/ODECollisionModel

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/****************************************************************************
  Copyright (C)2002 David Jung <opensim@pobox.com>

  This program/file 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.
  
  This program 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. (http://www.gnu.org)
  
  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  
  $Id: ODECollisionModel 1031 2004-02-11 20:46:36Z jungd $
  $Revision: 1.2 $
  $Date: 2004-02-11 15:46:36 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#ifndef _PHYSICS_ODECOLLISIONMODEL_
#define _PHYSICS_ODECOLLISIONMODEL_

#include <physics/physics>
#include <physics/CollisionModel>

//#include <gfx/TriangleContainer>
#include <physics/Box>
#include <physics/Sphere>
//#include <physics/Polyhedron>


#include <ode/ode.h>


namespace physics {


class ODECollisionModel : public CollisionModel
{
public:
  ODECollisionModel(const ODECollisionModel& cm);
  ODECollisionModel(ref<const Shape> shape);
  virtual ~ODECollisionModel();

  virtual String className() const { return String("ODECollisionModel"); }
  virtual Object& clone() const { return *NewNamedObj(className()) ODECollisionModel(*this); }

  virtual CollisionModelType getType() const { return ODEModel; }

 
  class ODEModelState : public ModelState
  {
  public:
    ODEModelState() {}
    virtual ~ODEModelState() {}

    virtual String className() const { return String("GJKCollisionModel::ODEModelState"); }
    virtual base::Object& clone() const { return *NewNamedObj(className()) ODEModelState(); }
 

  };


  // OSGVisual
  virtual bool visualTypeSupported(VisualType type) const { return (type==OSGVisual); }
  virtual osg::Node* createOSGVisual(Visual::Attributes visualAttributes=0) const;

protected:
  ref<const Shape> shape; // model is based on this shape
 
  void create(ref<const Shape> shape);

  dGeomID  geomID;  ///< ODE's geom ID (corresponding to shape)

  
  friend class ODECollisionDetector;
};


} // physics

#endif

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