worldsim/include/phyfixed.h
00001 /******************************************************************************** 00002 * WorldSim -- library for robot simulations * 00003 * Copyright (C) 2008-2011 Gianluca Massera <emmegian@yahoo.it> * 00004 * * 00005 * This program is free software; you can redistribute it and/or modify * 00006 * it under the terms of the GNU General Public License as published by * 00007 * the Free Software Foundation; either version 2 of the License, or * 00008 * (at your option) any later version. * 00009 * * 00010 * This program is distributed in the hope that it will be useful, * 00011 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00012 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * 00013 * GNU General Public License for more details. * 00014 * * 00015 * You should have received a copy of the GNU General Public License * 00016 * along with this program; if not, write to the Free Software * 00017 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA * 00018 ********************************************************************************/ 00019 00020 #ifndef PHYFIXED_H 00021 #define PHYFIXED_H 00022 00023 #include "worldsimconfig.h" 00024 #include "world.h" 00025 #include "phyobject.h" 00026 #include "wvector.h" 00027 #include "wmatrix.h" 00028 #include "wquaternion.h" 00029 #include "phyjoint.h" 00030 00031 namespace farsa { 00032 00043 class FARSA_WSIM_API PhyFixed : public PhyJoint { 00044 public: 00046 PhyFixed( PhyObject* parent, PhyObject* child, bool cp=true ); 00047 00049 virtual void updateJointInfo(); 00050 00052 virtual wVector centre() const; 00053 00054 protected: 00056 wMatrix localMatrixParent; 00058 wMatrix localMatrixChild; 00059 00068 mutable wMatrix globalMatrixParent; 00074 wMatrix globalMatrixChild; 00075 00077 void createPrivateJoint(); 00078 virtual void updateJoint( real timestep ); 00079 00080 }; 00081 00082 } // end namespace farsa 00083 00084 #endif