simplesolid.hh

机器人人3D仿真工具,可以加入到Simbad仿真环境下应用。

/*
 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003  
 *     Nate Koenig & Andrew Howard
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program 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 General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
/* Desc: Model for simple solids
 * Author: Andrew Howard
 * Date: 3 Aug 2003
 * CVS: $Id: SimpleSolid.hh,v 1.5 2004/05/24 05:49:25 inspectorg Exp $
 */

#ifndef SIMPLESOLID_HH
#define SIMPLESOLID_HH

#include "Body.hh"
#include "Model.hh"

// Forward declarations
class Geom;


class SimpleSolid : public Model
{
  // Constructor, destructor
  public: SimpleSolid( World *world );
  public: virtual ~SimpleSolid();
  
  // Load the model
  public: virtual int Load( WorldFile *file, WorldFileNode *node );

  // Initialize the model
  public: virtual int Init( WorldFile *file, WorldFileNode *node );

  // Finalize the model
  public: virtual int Fini();

  // Update the model state
  public: virtual void Update( double step );

  // Load ODE stuff
  private: int OdeLoad( WorldFile *file, WorldFileNode *node );

  // ODE objects
  private: Body *body;
  private: Geom *geom;
};


#endif