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qtrbconn.h00001 /* 00002 Dynamics/Kinematics modeling and simulation library. 00003 Copyright (C) 1999 by Michael Alexander Ewert and Noah Gibbs 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_QUATRIGIDBODYCONNECTOR_H__ 00022 #define __CT_QUATRIGIDBODYCONNECTOR_H__ 00023 00024 #include "csphyzik/phyztype.h" 00025 #include "csphyzik/entity.h" 00026 #include "csphyzik/ctquat.h" 00027 #include "csgeom/quaterni.h" 00028 #include "csphyzik/point.h" 00029 00030 class ctQuatRigidBody; 00031 00032 class ctQuatRigidBodyConnector : public ctPointObj 00033 { 00034 ctQuatRigidBody *rigid; 00036 ctVector3 r; 00037 00038 public: 00039 ctQuatRigidBodyConnector (ctQuatRigidBody *rb, ctVector3 offset); 00040 ~ctQuatRigidBodyConnector() {} 00041 00042 ctVector3 pos (); 00043 ctVector3 vel (); 00044 00045 void apply_force (ctVector3 F); 00046 00047 int num_state_vars (); 00048 int state_index (int i); 00049 ctVector3 dp (int i); 00050 ctVector3 dpdot (int i); 00051 }; 00052 00053 #endif // __CT_QUATRIGIDBODYCONNECTOR_H__ Generated for Crystal Space by doxygen 1.2.5 written by Dimitri van Heesch, ©1997-2000 |