spherecollider.h

ROBOCUP 仿真3D server 源码

/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2002,2003 Koblenz University
   Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
   $Id: spherecollider.h,v 1.7 2004/04/15 18:33:15 rollmark Exp $

   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; version 2 of the License.

   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., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#ifndef OXYGEN_SPHERECOLLIDER_H
#define OXYGEN_SPHERECOLLIDER_H

#include "collider.h"

namespace oxygen
{

/** SphereCollider encapsulates an ODE sphere geometry object.
 */
class SphereCollider : public Collider
{
    //
    // Functions
    //
public:
    SphereCollider();

    /** sets the radius of the managed ODE sphere geom */
    void SetRadius(float r);

    /** get the radius back from ODE */
    float GetRadius() const;

    /** returns the depth of the given relative position in the
        managed sphere. Points inside the geom will have positive
        depth, points outside it will have negative depth, and points
        on the surface will have zero depth.
     */
    float GetPointDepth(const salt::Vector3f& pos);

protected:
    /** constructs a default sphere with a radius of 1 */
    virtual bool ConstructInternal();
};

DECLARE_CLASS(SphereCollider);

} //namespace oxygen

#endif //OXYGEN_SPHERECOLLIDER_H