PhysicsEngine.hh

00001 /*
00002  *  Gazebo - Outdoor Multi-Robot Simulator
00003  *  Copyright (C) 2003  
00004  *     Nate Koenig & Andrew Howard
00005  *
00006  *  This program is free software; you can redistribute it and/or modify
00007  *  it under the terms of the GNU General Public License as published by
00008  *  the Free Software Foundation; either version 2 of the License, or
00009  *  (at your option) any later version.
00010  *
00011  *  This program is distributed in the hope that it will be useful,
00012  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00013  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014  *  GNU General Public License for more details.
00015  *
00016  *  You should have received a copy of the GNU General Public License
00017  *  along with this program; if not, write to the Free Software
00018  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019  *
00020  */
00021 /* Desc: The base class for all physics engines
00022  * Author: Nate Koenig
00023  * Date: 11 June 2007
00024  * SVN: $Id: PhysicsEngine.hh 206 2008-01-04 14:00:01Z robotos $
00025  */
00026 
00027 #ifndef PHYSICSENGINE_HH
00028 #define PHYSICSENGINE_HH
00029 
00030 #include "Joint.hh"
00031 
00032 namespace gazebo
00033 {
00034 
00035 class Entity;
00036 class Body;
00037 class XMLConfigNode;
00038 
00040 
00069 
00070 class PhysicsEngine
00071 {
00073   public: PhysicsEngine();
00074 
00076   public: virtual ~PhysicsEngine();
00077 
00080   public: virtual void Load(XMLConfigNode *node) = 0;
00081 
00084   public: virtual void Save(XMLConfigNode *node) =0;
00085 
00087   public: virtual void Init() = 0;
00088 
00090   public: virtual void Update() = 0;
00091 
00093   public: virtual void Fini() = 0;
00094 
00096   public: virtual void AddEntity(Entity *entity) = 0;
00097 
00099   public: virtual void RemoveEntity(Entity *entity) = 0;
00100 
00102   public: virtual Body *CreateBody(Entity *parent) = 0;
00103 
00105   public: virtual Joint *CreateJoint(Joint::Type type) = 0;
00106 
00109   public: Vector3 GetGravity() const;
00110 
00113   public: double GetStepTime() const;
00114 
00116   protected: Vector3 gravity;
00117 
00119   protected: double stepTime;
00120 };
00121 
00123 }
00124 #endif
Last updated Aug 04 2007