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