environment.h

/* Copyright (C) 2004-2009 MBSim Development Team
 * 
 * This library is free software; you can redistribute it and/or 
 * modify it under the terms of the GNU Lesser General Public 
 * License as published by the Free Software Foundation; either 
 * version 2.1 of the License, or (at your option) any later version. 
 * 
 * This library is distributed in the hope that it will be useful, 
 * but WITHOUT ANY WARRANTY; without even the implied warranty of 
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
 * Lesser General Public License for more details. 
 *
 * You should have received a copy of the GNU Lesser General Public 
 * License along with this library; if not, write to the Free Software 
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
 *
 * Contact: friedrich.at.gc@googlemail.com
 */
 
#ifndef _MBSIM_ENVIRONMENT_H_
#define _MBSIM_ENVIRONMENT_H_
 
#include "fmatvec/fmatvec.h"
#include "fmatvec/atom.h"
#include <xercesc/dom/DOMElement.hpp>
#include <xercesc/dom/DOMNode.hpp>
 
namespace OpenMBV {
  class Object;
}
 
namespace MBSim {
 
  class Environment : virtual public fmatvec::Atom {
    public:
      /* INTERFACE FOR DERIVED CLASSES */
      virtual void initializeUsingXML(xercesc::DOMElement *element) {}
      /***************************************************/
 
      ~Environment() override = default;
 
    protected:
      Environment()  {};
  };
 
  class MBSimEnvironment : public Environment {
    public:
      /* INHERITED INTERFACE */
      void initializeUsingXML(xercesc::DOMElement *element) override;
      /***************************************************/
 
      /* GETTER / SETTER */
      void setAccelerationOfGravity(const fmatvec::Vec3 &grav_) { grav=grav_; }
      const fmatvec::Vec3& getAccelerationOfGravity() const { return grav; }
 
      void addOpenMBVObject(const std::shared_ptr<OpenMBV::Object> &object);
      std::vector<std::shared_ptr<OpenMBV::Object>> getOpenMBVObjects();
      /***************************************************/
 
      MBSimEnvironment()  {}
    
    protected:
 
      fmatvec::Vec3 grav;
 
      std::vector<std::shared_ptr<OpenMBV::Object>> openMBVObject;
  };
 
}
 
#endif /* _MBSIM_ENVIRONMENT_H_ */