oasisjoints.h

使用stl技术,(还没看,是听说的)

/******************************************************************************
 * This source file is part of Bad Camel Gaming
 * Copyright (C) 2003  Zephie Greyvenstein
 * See Readme.html for acknowledgements
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *****************************************************************************/

/******************************************************************************
 * FILENAME    : oasisJoints.h
 * DESCRIPTION : Define the different joints
 * AUTHOR      : Zephie Greyvenstein
 *****************************************************************************/

/// Avoid double inclusion
#ifndef __JOINTS_H__
#define __JOINTS_H__

/// Include common stuff
#include "oasisCommon.h"
/// Include the rest of the needed oasis stuff
#include "oasisJoint.h"

/// Forward declare ODE stuff
struct dWorld;

namespace Oasis {
  /// Ball joint
  class _oasisExport ballJoint : public joint {
  public:
    /// Constructor
    ballJoint( const dWorld *worldParent,
	       physics *first,
	       physics *second );
    /// Deconstructor
    ~ballJoint( );

    /// Set the anchor position for the ball joint
    void setAnchorPosition( const vector3 &origin );

    /// Sets the axes for the joint, which is meaningless for this joint
    void setAxes( const vector3 &primary,
		  const vector3 &secondary = vector3::ZERO ) {}

    /// Sets a parameter, meaningless here
    void setParameter( JointParam param, real value ) {}
    /// Gets a paramater, meaningless here
    const real getParameter( JointParam param ) { return 0; }

    /// Get the angle of a axis
    const real getAxisAngle( JointAxis axis ) const { return 0; }
  };

  /// Slider joint
  class _oasisExport sliderJoint : public joint {
  public:
    /// Constructor
    sliderJoint( const dWorld *worldParent,
		 physics *first,
		 physics *second );
    /// Deconstructor
    ~sliderJoint( );

    /// Set the anchor position, which is meaningless for this joint
    void setAnchorPosition( const vector3 &origin ) {}

    /// Sets the axes for the joint
    void setAxes( const vector3 &primary,
		  const vector3 &secondary = vector3::ZERO );

    /// Sets a parameter
    void setParameter( JointParam param, real value );
    /// Gets a paramater
    const real getParameter( JointParam param );

    /// Get the angle of a axis
    const real getAxisAngle( JointAxis axis ) const { return 0; }
  };

  /// Hinge joint
  class _oasisExport hingeJoint : public joint {
  public:
    /// Constructor
    hingeJoint( const dWorld *worldParent,
		physics *first, 
		physics *second );
    /// Deconstructor
    ~hingeJoint( );

    /// Set the anchor position
    void setAnchorPosition( const vector3 &origin );

    /// Sets the axes for the joint
    void setAxes( const vector3 &primary,
		  const vector3 &secondary = vector3::ZERO );

    /// Sets a parameter
    void setParameter( JointParam param, real value );
    /// Gets a paramater
    const real getParameter( JointParam param );
    
    /// Get the angle of a axis
    const real getAxisAngle( JointAxis axis ) const;
  };  

  /// Hinge2 joint
  class _oasisExport hinge2Joint : public joint {
  public:
    /// Constructor
    hinge2Joint( const dWorld *worldParent,
		 physics *first, 
		 physics *second );
    /// Deconstructor
    ~hinge2Joint( );

    /// Set the anchor position
    void setAnchorPosition( const vector3 &origin );

    /// Sets the axes for the joint
    void setAxes( const vector3 &primary,
		  const vector3 &secondary = vector3::ZERO );

    /// Sets a parameter
    void setParameter( JointParam param, real value );
    /// Gets a paramater
    const real getParameter( JointParam param );

    /// Get the angle of a axis
    const real getAxisAngle( JointAxis axis ) const;
  };  

  /// Universal joint
  class _oasisExport universalJoint : public joint {
  public:
    /// Constructor
    universalJoint( const dWorld *worldParent,
		    physics *first, 
		    physics *second );
    /// Deconstructor
    ~universalJoint( );

    /// Set the anchor position
    void setAnchorPosition( const vector3 &origin );

    /// Sets the axes for the joint
    void setAxes( const vector3 &primary,
		  const vector3 &secondary = vector3::ZERO );

    /// Sets a parameter
    void setParameter( JointParam param, real value );
    /// Gets a paramater
    const real getParameter( JointParam param );

    /// Get the angle of a axis
    const real getAxisAngle( JointAxis axis ) const { return 0; }
  };
};

#endif