Body.h

Go to the documentation of this file.

//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
 
#ifndef RL_SG_FCL_BODY_H
#define RL_SG_FCL_BODY_H
 
#include <fcl/collision.h>
#include <fcl/broadphase/broadphase.h>
 
#include "../Body.h"
 
namespace rl
{
    namespace sg
    {
        namespace fcl
        {
            class Model;
            
            class Body : public ::rl::sg::Body
            {
            public:
                Body(Model* model);
                
                virtual ~Body();
                
                void add(::rl::sg::Shape* shape);
                
                ::rl::sg::Shape* create(SoVRMLShape* shape);
                
                void getFrame(::rl::math::Transform& frame);
                
                void remove(::rl::sg::Shape* shape);
                
                void setFrame(const ::rl::math::Transform& frame);
                
                ::std::vector< ::fcl::CollisionObject*> collisionObjects;
                
                ::fcl::DynamicAABBTreeCollisionManager manager;
                
            protected:
                ::rl::math::Transform frame;
                
            private:
                
            };
        }
    }
}
 
#endif // RL_SG_BULLET_BODY_H