00001 #ifndef __SCENE_STATE_H__ 00002 #define __SCENE_STATE_H__ 00003 00004 #include <hrpCorba/OpenHRPCommon.hh> 00005 #include <hrpModel/World.h> 00006 #include "BodyState.h" 00007 00008 class CollisionInfo 00009 { 00010 public: 00011 double position[3]; 00012 double normal[3]; 00013 double idepth; 00014 }; 00015 00016 class SceneState 00017 { 00018 public: 00019 void set(hrp::WorldBase& i_world, OpenHRP::CollisionSequence& i_collisions); 00020 double time; 00021 std::vector<BodyState> bodyStates; 00022 std::vector<CollisionInfo> collisions; 00023 }; 00024 00025 #endif