00001 /* **-*-c++-*-************************************************************** 00002 Copyright (C)2003 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: ODEContactConstraint 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_ODECONTACTCONSTRAINT_ 00026 #define _PHYSICS_ODECONTACTCONSTRAINT_ 00027 00028 #include <physics/physics> 00029 #include <physics/ODEConstraint> 00030 #include <physics/ContactConstraint> 00031 00032 namespace physics { 00033 00034 class ConstraintGroup; 00035 00036 00037 class ODEContactConstraint : virtual public ContactConstraint, public ODEConstraint 00038 { 00039 public: 00040 ODEContactConstraint(); 00041 virtual ~ODEContactConstraint(); 00042 00043 virtual String className() const { return String("ODEContactConstraint"); } 00044 00045 virtual void attach(ref<Body> body1, ref<Body> body2); ///< attach this constraint to two bodies 00046 virtual ref<Body> getBody(Int index); ///< get Body (index is 1 or 2); returns null if unattached 00047 virtual ref<const Body> getBody(Int index) const; 00048 00049 virtual void setContactPosition(const Point3& pos); ///< set contact point (in body1 frame) 00050 virtual void setContactNormal(const Vector3& normal); ///< set contact normal (in body1 frame) 00051 virtual void setContactDepth(Real depth); ///< set contact depth 00052 00053 virtual void setParameter(const String& name, Real value, Int dof=1) 00054 { ODEConstraint::setParameter(name, value, dof); } 00055 00056 protected: 00057 virtual void onConstraintGroupAdd(ref<ConstraintGroup> g); ///< called by ConstraintGroup::addConstraint() 00058 00059 inline void checkAddedAndAttached() const 00060 { 00061 Assertm(!((body1 == 0) && (body2 == 0)), "ContactConstraint is attached to Bodies"); //!!! check cond. 00062 Assertm(group!=0,"ContactConstraint is member of ConstraintGroup"); 00063 } 00064 00065 ref<Body> body1; 00066 ref<Body> body2; 00067 00068 bool addedToGroup; 00069 00070 dContact oc; 00071 Point3 position; 00072 Vector3 normal; 00073 Real depth; 00074 }; 00075 00076 00077 } // physics 00078 00079 #endif
1.3.6