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00001 // ArticulatedAgentBase.h: interface for the ArticulatedAgentBase class. 00002 // 00004 00005 #ifndef ARTICULATEDAGENTBASE_H 00006 #define ARTICULATEDAGENTBASE_H 00007 00008 #include "ArticulatedComponent.h" 00009 #include "ArticulatedLimb.h" 00010 #include "Circle.h" 00011 #include "CappedRectangle.h" 00012 #include "Vector3.h" 00013 00014 class Simulator; 00015 00019 class ArticulatedAgentBase : public ArticulatedComponent { 00020 public: 00022 ArticulatedAgentBase(std::string label=""); 00023 00025 virtual ~ArticulatedAgentBase(); 00026 00028 ArticulatedLimb* addLimb(); 00032 ArticulatedLimb* addLimb(real l, real theta); 00033 00034 00035 virtual void registerPrimitives(Simulator* simulator); 00036 00037 virtual bool detectContacts(PhysicalObject* object, GlobalContactInfoVector* contacts); 00038 virtual void detectInternalContacts(GlobalContactInfoVector* contacts); 00039 virtual bool detectMouseContact(const Vector2& rMouse, Vector2& p, PhysicalObject*& object); 00040 00041 virtual void deleteContacts(); 00042 00043 void fillContactMatrix(ContactSolver* contactSolver, ContactInfo* contactInfo); 00044 00046 virtual void draw(GUI *gui); 00047 00048 virtual void setOutlineColor(Color color); 00049 virtual void setFillColor(Color color); 00050 00051 protected: 00053 static void solveSystem(SymmetricMatrix3& m, const Vector3& c, Vector3& x); 00054 00057 static void solveSystem(const SymmetricMatrix3& m, const real determinant, const Vector3& c, Vector3& x); 00058 00059 protected: 00061 ArticulatedLimbPVector limbs; 00062 00063 void deleteLimbs(); 00064 }; 00065 00066 #endif //ARTICULATEDAGENTBASE_H
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