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collisionperceptor.cpp

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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: collisionperceptor.cpp,v 1.4 2004/04/05 14:51:36 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 
00023 #include "collisionperceptor.h"
00024 
00025 using namespace boost;
00026 using namespace oxygen;
00027 
00028 bool
00029 CollisionPerceptor::Percept(shared_ptr<PredicateList> predList)
00030 {
00031     if (mCollidees.empty())
00032     {
00033         return false;
00034     }
00035 
00036     Predicate& predicate = predList->AddPredicate();
00037     predicate.name = "collision";
00038     predicate.parameter.Clear();
00039 
00040      for (
00041           TLeafList::const_iterator i = GetCollidees().begin();
00042           i != GetCollidees().end();
00043           ++i
00044           )
00045        {
00046          predicate.parameter.AddValue(*i);
00047        }
00048 
00049     return true;
00050 }
00051 
00052 void
00053 CollisionPerceptor::PrePhysicsUpdateInternal(float /*deltaTime*/)
00054 {
00055   mCollidees.clear();
00056 }
00057 
00058 void
00059 CollisionPerceptor::AddCollidee(boost::shared_ptr<Node> collidee)
00060 {
00061   if (collidee.get() == 0)
00062     {
00063       return;
00064     }
00065 
00066   mCollidees.push_back(collidee);
00067 }
00068 
00069 

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