Biomechanical Joint Model  Author: Anderson Maciel

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polyObject.H

Go to the documentation of this file.

/************************************************************************\

  Copyright 1997 The University of North Carolina at Chapel Hill.
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  Permission to use, copy, modify and distribute this software
  and its documentation for educational, research and non-profit
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   --------------------------------- 
  |Please send all BUG REPORTS to:  |
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  |   geom@cs.unc.edu               |
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   ---------------------------------
  
     
  The authors may be contacted via:

  US Mail:  A. Pattekar/J. Cohen/T. Hudson/S. Gottschalk/M. Lin/D. Manocha
            Department of Computer Science
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\************************************************************************/

#ifndef POLYOBJECT_H
#define POLYOBJECT_H

#include "vector.H"
#include "polytope.H"
#include "VCollide.H"

class polyObject
{
  
public:

  int id;    //the id of this object.

  Vector position;    //current position.
  Vector orientation; //current orientation.
  Vector v;           //the delta change in velocity per frame.
  Vector omega;       //the delta change in orientation per frame.
  
  Polytope *p;        //points to the geometry.
  
  polyObject(Polytope *p);
  ~polyObject();

  void polyObject::UpdateOneStep(double ogl_trans[16]); 
                     //updates position and orientation by one frame.
                     //also checks for collision with the walls of the
                     //cube and provides a simple collision response.
  polyObject *next;
};

#endif

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