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odeobject.h

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00001 /* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
00002 
00003    this file is part of rcssserver3D
00004    Fri May 9 2003
00005    Copyright (C) 2002,2003 Koblenz University
00006    Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
00007    $Id: odeobject.h,v 1.7 2004/04/15 14:14:13 rollmark Exp $
00008 
00009    This program is free software; you can redistribute it and/or modify
00010    it under the terms of the GNU General Public License as published by
00011    the Free Software Foundation; version 2 of the License.
00012 
00013    This program is distributed in the hope that it will be useful,
00014    but WITHOUT ANY WARRANTY; without even the implied warranty of
00015    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00016    GNU General Public License for more details.
00017 
00018    You should have received a copy of the GNU General Public License
00019    along with this program; if not, write to the Free Software
00020    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
00021 */
00022 #ifndef OXYGEN_ODEOBJECT_H
00023 #define OXYGEN_ODEOBJECT_H
00024 
00025 #include <oxygen/sceneserver/basenode.h>
00026 #include <ode/ode.h>
00027 
00028 namespace oxygen
00029 {
00030 class Space;
00031 class World;
00032 
00035 class ODEObject : public BaseNode
00036 {
00037 public:
00038     //
00039     // Functions
00040     //
00041     ODEObject() : BaseNode() {};
00042     virtual ~ODEObject() {};
00043 
00044 protected:
00046     boost::shared_ptr<World> GetWorld();
00047 
00049     boost::shared_ptr<Space> GetSpace();
00050 
00052     dWorldID GetWorldID();
00053 
00055     dSpaceID GetSpaceID();
00056 
00059     void ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix);
00060 };
00061 
00062 DECLARE_ABSTRACTCLASS(ODEObject);
00063 
00064 } //namespace oxygen
00065 
00066 #endif //OXYGEN_ODEOBJECT_H

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