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contact.h

00001 /*
00002     Dynamics/Kinematics modeling and simulation library.
00003     Copyright (C) 1999 by Michael Alexander Ewert
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 */
00020 
00021 #ifndef CT_COLLIDING_H
00022 #define CT_COLLIDING_H
00023 
00024 #include "csphyzik/phyztype.h"
00025 
00026 #define MIN_CONTACT MIN_REAL * 100
00027 
00028 class ctPhysicalEntity;
00029 class ctRigidBody;
00030 
00031 class ctCollidingContact
00032 {
00033 public:
00034 
00035   ctCollidingContact() : contact_p(0), ea(0), eb(0), n(0)
00036   {
00037     body_b = NULL;
00038     restitution = 1.0;
00039     next = NULL;
00040   }
00041 
00043   ctEntity *body_a;
00044 
00049   ctEntity *body_b;
00050 
00052   ctVector3 contact_p;
00054   ctVector3 ea;
00056   ctVector3 eb;
00057 
00060   bool vf;
00061 
00063   ctVector3 n;
00064 
00069   real restitution;
00070 
00072   ctCollidingContact *next;
00073 
00074 };
00075 
00076 
00077 class ctContact
00078 {
00079 public:
00080 
00081   ctContact() : contact_p(0), ea(0), eb(0), n(0)
00082   {
00083     body_b = NULL;
00084     next = NULL;
00085   }
00086 
00088   ctRigidBody *body_a;
00089 
00092   ctRigidBody *body_b;
00093 
00095   ctVector3 contact_p;
00097   ctVector3 ea;
00099   ctVector3 eb;
00100 
00101   bool vf;
00102 
00104   ctVector3 n;
00106   ctContact *next;
00107 
00108 };
00109 
00110 #endif

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