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collider.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: collider.h,v 1.10 2004/04/15 14:19:04 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_COLLIDER_H
00023 #define OXYGEN_COLLIDER_H
00024 
00025 #include "odeobject.h"
00026 #include <string>
00027 
00028 namespace oxygen
00029 {
00030 class Space;
00031 class World;
00032 
00043 class Collider : public ODEObject
00044 {
00045     //
00046     // Functions
00047     //
00048 public:
00052     enum ECollisionType
00053      {
00055          CT_DIRECT,
00056 
00058          CT_SYMMETRIC
00059      };
00060 
00061 public:
00062     Collider();
00063     virtual ~Collider();
00064 
00081     virtual void OnCollision (boost::shared_ptr<Collider> collidee,
00082                               dContact& contact, ECollisionType type);
00083 
00090     bool AddCollisionHandler(const std::string& handlerName);
00091 
00093     static boost::shared_ptr<Collider> GetCollider(dGeomID id);
00094 
00096     dGeomID GetODEGeom();
00097 
00102     virtual void SetPosition(const salt::Vector3f& pos);
00103 
00108     virtual void SetRotation(const salt::Matrix& rot);
00109 
00113     bool Intersects(boost::shared_ptr<Collider> collider);
00114 
00115 protected:
00119     virtual void OnLink();
00120 
00124     virtual void OnUnlink();
00125 
00129     virtual void PrePhysicsUpdateInternal(float deltaTime);
00130 
00131     //
00132     // Members
00133     //
00134 protected:
00136     dGeomID mODEGeom;
00137 };
00138 
00139 DECLARE_CLASS(Collider);
00140 
00141 } //namespace oxygen
00142 
00143 #endif //OXYGEN_COLLIDER_H

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