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: contactjointhandler.h,v 1.6 2004/04/15 19:55:07 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_CONTACTJOINTHANDLER_H 00023 #define OXYGEN_CONTACTJOINTHANDLER_H 00024 00025 #include "collisionhandler.h" 00026 00027 namespace oxygen 00028 { 00029 00034 class ContactJointHandler : public CollisionHandler 00035 { 00036 public: 00037 ContactJointHandler(); 00038 virtual ~ContactJointHandler(); 00039 00052 virtual void HandleCollision 00053 (boost::shared_ptr<Collider> collidee, dContact& contact); 00054 00058 virtual bool IsSymmetricHandler() { return false; } 00059 00063 void SetSurfaceParameter(const dSurfaceParameters& surface); 00064 00066 void SetContactMode(int mode, bool set); 00067 00069 void SetContactBounceMode(bool set); 00070 00072 void SetBounceValue(float bounce); 00073 00075 void SetMinBounceVel(float vel); 00076 00080 void SetContactSoftERPMode(bool set); 00081 00083 void SetContactSoftERP(float erp); 00084 00088 void SetContactSoftCFMMode(bool set); 00089 00092 void SetContactSoftCFM(float cfm); 00093 00096 void SetContactSlipMode (bool set); 00097 00100 void SetContactSlip(float slip); 00101 00103 void SetContactMu(float mu); 00104 00105 protected: 00106 f_inline float MixValues(const float v1, const float v2, const int n) const; 00107 00108 void CalcSurfaceParam(dSurfaceParameters& surface, 00109 const dSurfaceParameters& collideeParam); 00110 00111 protected: 00113 dSurfaceParameters mSurfaceParameter; 00114 }; 00115 00116 DECLARE_CLASS(ContactJointHandler); 00117 00118 } //namespace oxygen 00119 00120 00121 #endif // OXYGEN_CONTACTJOINTHANDLER_H