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ODEPhysics.hh

/*
 *  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: The ODE physics engine wrapper
 * Author: Nate Koenig
 * Date: 11 June 2007
 * SVN: $Id: ODEPhysics.hh 206 2008-01-04 14:00:01Z robotos $
 */

#ifndef ODEPHYSICS_HH
#define ODEPHYSICS_HH

#include <ode/ode.h>
#include <map>

#include "PhysicsEngine.hh"


namespace gazebo
{
  class SphereGeom;
  class PlaneGeom;
  class BoxGeom;
  class CylinderGeom;
  class Entity;
  class XMLConfigNode;



class ODEPhysics : public PhysicsEngine
{
  public: ODEPhysics();

  public: virtual ~ODEPhysics();

  public: virtual void Load(XMLConfigNode *node);

  public: void Save(XMLConfigNode *node);

  public: virtual void Init();

  public: virtual void Update();

  public: virtual void Fini();

  public: virtual void AddEntity(Entity *entity);

  public: virtual void RemoveEntity(Entity *entity);

  public: virtual Body *CreateBody(Entity *parent);

  public: virtual Joint *CreateJoint(Joint::Type type);

  public: dSpaceID GetSpaceId() const;

  private: static void CollisionCallback( void *data, dGeomID o1, dGeomID o2);

  private: dWorldID worldId;

  private: dSpaceID spaceId;

  private: dJointGroupID contactGroup;
          
  protected: std::map<int, Entity* > entities;

  private: double globalCFM;
  private: double globalERP; 
};


}

#endif

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Last updated Aug 04 2007