physics/ODEConstraintGroup

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/* **-*-c++-*-**************************************************************
  Copyright (C)1996 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: ODEConstraintGroup 1031 2004-02-11 20:46:36Z jungd $
  $Revision: 1.4 $
  $Date: 2004-02-11 15:46:36 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#ifndef _PHYSICS_ODECONSTRAINTGROUP_
#define _PHYSICS_ODECONSTRAINTGROUP_

#include <physics/physics>
#include <physics/ConstraintGroup>

#include <base/reflist>

#include <ode/ode.h>


namespace physics {


class ODEConstraintGroup : public ConstraintGroup
{
public:
  virtual ~ODEConstraintGroup();

  virtual String className() const { return String("ODEConstraintGroup"); }


  virtual void addConstraint(ref<Constraint> c); ///< add constraint to the group
  virtual void removeConstraint(ref<Constraint> c); ///< remove constraint from the group
  virtual void clear(); ///< remove all constraints from group (and destroy them)

  dWorldID getWorldID() const { return worldID; }
  dJointGroupID getJointGroupID() const { return jointGroupID; }

protected:
  ODEConstraintGroup(dWorldID worldID);

  typedef base::reflist<Constraint> Constraints;
  Constraints constraints;

  dWorldID worldID;
  dJointGroupID jointGroupID;
  
  friend class ODESolidSystem;
};


} // physics

#endif

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