enki/Interaction.h

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/*
    Enki - a fast 2D robot simulator
    Copyright (C) 1999-2008 Stephane Magnenat <stephane at magnenat dot net>
    Copyright (C) 2004-2005 Markus Waibel <markus dot waibel at epfl dot ch>
    Copyright (c) 2004-2005 Antoine Beyeler <abeyeler at ab-ware dot com>
    Copyright (C) 2005-2006 Laboratory of Intelligent Systems, EPFL, Lausanne
    Copyright (C) 2006-2008 Laboratory of Robotics Systems, EPFL, Lausanne
    See AUTHORS for details

    This program is free software; the authors of any publication 
    arising from research using this software are asked to add the 
    following reference:
    Enki - a fast 2D robot simulator
    http://lis.epfl.ch/enki
    Stephane Magnenat <stephane at magnenat dot net>,
    Markus Waibel <markus dot waibel at epfl dot ch>
    Laboratory of Intelligent Systems, EPFL, Lausanne.

    You can redistribute this program and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    This program 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 General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#ifndef __ENKI_INTERACTION_H
#define __ENKI_INTERACTION_H

namespace Enki
{
    class PhysicalObject;
    class Robot;
    class World;


    class LocalInteraction
    {
    protected:
        double r;

        friend class Robot;
        Robot *owner;

    public :
        LocalInteraction() {}
        LocalInteraction(double range, Robot* owner) : r(range), owner(owner) {}
        virtual ~LocalInteraction() { }
        virtual void init(double dt, World* w) { }

        virtual void objectStep(double dt, World* w, PhysicalObject *po) { }

        virtual void wallsStep(double dt, World* w) { }
        virtual void finalize(double dt, World* w) { }
        double getRange() const { return r; }
    };


    class GlobalInteraction
    {
    protected:
        Robot *owner;

    public :
        GlobalInteraction() {}
        GlobalInteraction(Robot* owner) : owner(owner) {}
        virtual ~GlobalInteraction() { }
        virtual void init(double dt, World *w) { }
        virtual void step(double dt, World *w) { }
        virtual void finalize(double dt, World *w) { }
    };
}
#endif

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