00001 /*========================================================================= 00002 UberSim Source Code Release 00003 ------------------------------------------------------------------------- 00004 Copyright (C) 2002 Manuela Veloso, Brett Browning, Mike Bowling, 00005 James Bruce; {mmv, brettb, mhb, jbruce}@cs.cmu.edu 00006 Erick Tryzelaar {erickt}@andrew.cmu.edu 00007 School of Computer Science, Carnegie Mellon University 00008 ------------------------------------------------------------------------- 00009 This software is distributed under the GNU General Public License, 00010 version 2. If you do not have a copy of this licence, visit 00011 www.gnu.org, or write: Free Software Foundation, 59 Temple Place, 00012 Suite 330 Boston, MA 02111-1307 USA. This program is distributed 00013 in the hope that it will be useful, but WITHOUT ANY WARRANTY, 00014 including MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. 00015 -------------------------------------------------------------------------*/ 00016 00017 #ifndef __SIM_JOINT_H__ 00018 #define __SIM_JOINT_H__ 00019 00020 #include "nommgr.h" 00021 #include <ode/ode.h> 00022 #include "mmgr.h" 00029 class RigidBody; 00030 00031 class Joint 00032 { 00033 public: 00034 virtual ~Joint (); 00035 00036 public: 00037 RigidBody* getRigidBody1 (); 00038 RigidBody* getRigidBody2 (); 00039 00040 protected: 00041 Joint (); 00042 Joint (RigidBody* rigidBody1, RigidBody* rigidBody2); 00043 00044 protected: 00045 RigidBody* rigidBody1; 00046 RigidBody* rigidBody2; 00047 00048 dJointID joint; 00049 }; 00050 00051 #endif
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