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perceptorhandler.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: perceptorhandler.cpp,v 1.2 2004/02/12 14:07:24 fruit 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 #include "perceptorhandler.h"
00023 #include "collisionperceptor.h"
00024 #include <oxygen/physicsserver/collider.h>
00025 #include <oxygen/sceneserver/transform.h>
00026 
00027 using namespace oxygen;
00028 using namespace boost;
00029 
00030 void
00031 PerceptorHandler::HandleCollision
00032 (boost::shared_ptr<Collider> collidee, dContact& /*contact*/)
00033 {
00034   // find the first CollisionPerceptor below our closest Transform node
00035   shared_ptr<Transform> transformParent = shared_static_cast<Transform>
00036     (make_shared(GetParentSupportingClass("Transform")));
00037 
00038   if (transformParent.get() == 0)
00039     {
00040       return;
00041     }
00042 
00043   shared_ptr<CollisionPerceptor> perceptor =
00044     shared_static_cast<CollisionPerceptor>
00045     (transformParent->GetChildOfClass("CollisionPerceptor", true));
00046 
00047   if (perceptor.get() == 0)
00048     {
00049       return;
00050     }
00051 
00052   // now find the closest Transform node above the collidee
00053   shared_ptr<Transform> colTransformParent = shared_static_cast<Transform>
00054     (make_shared(collidee->GetParentSupportingClass("Transform")));
00055 
00056   if (colTransformParent.get() == 0)
00057     {
00058       return;
00059     }
00060 
00061   // notify the CollisionPerceptor
00062   perceptor->AddCollidee(colTransformParent);
00063 }

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