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physics/ODEConstraint

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00001 /* **-*-c++-*-**************************************************************
00002   Copyright (C)1996 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: ODEConstraint 1031 2004-02-11 20:46:36Z jungd $
00019   $Revision: 1.3 $
00020   $Date: 2004-02-11 15:46:36 -0500 (Wed, 11 Feb 2004) $
00021   $Author: jungd $
00022  
00023 ****************************************************************************/
00024 
00025 #ifndef _PHYSICS_ODECONSTRAINT_
00026 #define _PHYSICS_ODECONSTRAINT_
00027 
00028 #include <physics/physics>
00029 #include <physics/Constraint>
00030 
00031 #include <ode/ode.h>
00032 
00033 
00034 namespace physics {
00035 
00036 
00037 class ODEConstraint : virtual public Constraint
00038 {
00039 public:
00040   ODEConstraint();
00041   virtual ~ODEConstraint();
00042 
00043 protected:
00044   virtual void onConstraintGroupAdd(ref<ConstraintGroup> g) = 0; ///< called by ConstraintGroup::addConstraint()
00045   virtual void setJointID(dJointID jointID) ///< call in derived when ODE joint created (dJointDestroy() called by destructor)
00046     { this->jointID  = jointID; } 
00047 
00048   ref<ConstraintGroup> group;
00049   dJointID jointID;
00050 
00051   friend class ODEConstraintGroup;
00052 };
00053 
00054 
00055 } // physics
00056 
00057 #endif

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