torcs - 1.2.2

src/modules/simu/simuv2.sav/SOLID-2.0/src/Object.h

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00001 /*
00002   SOLID - Software Library for Interference Detection
00003   Copyright (C) 1997-1998  Gino van den Bergen
00004 
00005   This library is free software; you can redistribute it and/or
00006   modify it under the terms of the GNU Library General Public
00007   License as published by the Free Software Foundation; either
00008   version 2 of the License, or (at your option) any later version.
00009 
00010   This library 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 GNU
00013   Library General Public License for more details.
00014 
00015   You should have received a copy of the GNU Library General Public
00016   License along with this library; if not, write to the Free
00017   Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
00018 
00019   Please send remarks, questions and bug reports to gino@win.tue.nl,
00020   or write to:
00021                   Gino van den Bergen
00022                   Department of Mathematics and Computing Science
00023                   Eindhoven University of Technology
00024                   P.O. Box 513, 5600 MB Eindhoven, The Netherlands
00025 */
00026 
00027 #ifndef _OBJECT_H_
00028 #define _OBJECT_H_
00029 
00030 #include <SOLID/solid.h>
00031 
00032 #include "Transform.h"
00033 #include "BBox.h"
00034 #include "Endpoint.h"
00035 #include "Shape.h"
00036 
00037 class Object {
00038 public:
00039   Object(DtObjectRef obj, ShapePtr shape); 
00040   
00041   void move();
00042   void proceed();
00043 
00044   void translate(const Vector& v) { curr.translate(v); }
00045   void rotate(const Quaternion& q) { curr.rotate(q); }
00046   void scale(Scalar x, Scalar y, Scalar z) { curr.scale(x, y, z); }
00047   
00048   void setIdentity() { curr.setIdentity(); }
00049 
00050   void setMatrix(const float v[16]) { curr.setValue(v); }
00051   void setMatrix(const double v[16]) { curr.setValue(v); }
00052 
00053   void multMatrix(const float v[16]) { curr *= Transform(v); }
00054   void multMatrix(const double v[16]) { curr *= Transform(v); }
00055 
00056   const BBox& getBBox() const { return bbox; }
00057 
00058   Transform curr;
00059   Transform prev;
00060   DtObjectRef ref;
00061   ShapePtr shapePtr;
00062   BBox bbox;
00063   Endpoint lower[3];
00064   Endpoint upper[3];
00065 };
00066 
00067 bool intersect(const Object&, const Object&, Vector& v);
00068 bool common_point(const Object&, const Object&, Vector&, Point&, Point&);
00069 bool prev_closest_points(const Object&, const Object&, 
00070                          Vector&, Point&, Point&);
00071 #endif
00072 
00073 
00074 
00075 
00076 

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