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# osgmainloop.h

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    00001 /***************************************************************************
    00002  *   Copyright (C) 2005 by Robot Group Leipzig                             *
    00003  *    martius@informatik.uni-leipzig.de                                    *
    00004  *    fhesse@informatik.uni-leipzig.de                                     *
    00005  *    der@informatik.uni-leipzig.de                                        *
    00006  *                                                                         *
    00007  *   This program is free software; you can redistribute it and/or modify  *
    00008  *   it under the terms of the GNU General Public License as published by  *
    00009  *   the Free Software Foundation; either version 2 of the License, or     *
    00010  *   (at your option) any later version.                                   *
    00011  *                                                                         *
    00012  *   This program is distributed in the hope that it will be useful,       *
    00013  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
    00014  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
    00015  *   GNU General Public License for more details.                          *
    00016  *                                                                         *
    00017  *   You should have received a copy of the GNU General Public License     *
    00018  *   along with this program; if not, write to the                         *
    00019  *   Free Software Foundation, Inc.,                                       *
    00020  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
    00021  *                                                                         *
    00022  ***************************************************************************
    00023  *                                                                         *
    00024  *   This file provides the main simulation loop using open scene graph    *
    00025  *   It creates the world scene and call the call back functions and so on.*
    00026  *                                                                         *
    00027  *                                                                         *
    00028  *   $Log: osgmainloop.h,v $
    00029  *   Revision 1.1.2.1  2005/12/06 10:13:24  martius
    00030  *   openscenegraph integration started
    00031  *
    00032  *                                                                 *
    00033  *                                                                         *
    00034  ***************************************************************************/
    00035 #ifndef __OSGMAINLOOP_H
    00036 #define __OSGMAINLOOP_H
    00037
    00038 #include <ode/ode.h>
    00039
    00040 #include "odehandle.h"
    00041 #include "globaldata.h"
    00042
    00043 class OSGMainLoop {
    00044 public:
    00045   OSGMainLoop(){
    00046
    00047   }
    00048
    00049 protected:
    00050   /// user defined start function (called at the beginning of the simulation)
    00051   void (*startFunction)(const OdeHandle&, GlobalData& globalData);
    00052   /// user defined end function (called after the simulation)
    00053   void (*endFunction)(GlobalData& globalData);
    00054   /// pointer to the config function of the user
    00055   void (*configFunction)(GlobalData& globalData);
    00056   // command function, set by user
    00057   void (*commandFunction)(const OdeHandle&, GlobalData& globalData, int key);
    00058   /// pointer to the user defined additional function
    00059   void (*collisionCallback)(const OdeHandle&, void* data, dGeomID o1, dGeomID o2);
    00060   /// pointer to the user defined additional function which is executed in each simulationstep
    00061   void (*additionalCallback)(GlobalData& globalData, bool draw, bool pause);
    00062 }
    00063
    00064
    00065 #endif