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contactjointhandler.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: 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

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