RigidBody.h

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/*=========================================================================
UberSim Source Code Release
-------------------------------------------------------------------------
Copyright (C) 2002 Manuela Veloso, Brett Browning, Mike Bowling,
                   James Bruce; {mmv, brettb, mhb, jbruce}@cs.cmu.edu
                   Erick Tryzelaar {erickt}@andrew.cmu.edu
School of Computer Science, Carnegie Mellon University
-------------------------------------------------------------------------
This software is distributed under the GNU General Public License,
version 2.  If you do not have a copy of this licence, visit
www.gnu.org, or write: Free Software Foundation, 59 Temple Place,
Suite 330 Boston, MA 02111-1307 USA.  This program is distributed
in the hope that it will be useful, but WITHOUT ANY WARRANTY,
including MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
-------------------------------------------------------------------------*/

#ifndef __SIM_RIGIDBODY_H__
#define __SIM_RIGIDBODY_H__

#include "nommgr.h"
#include <ode/ode.h>
#include "mmgr.h"

#include "MotionController.h"
class Island;
class RigidBodyCollider;
class Surface;

class RigidBody : public MotionController
{
    public:
        RigidBody          ();
        virtual ~RigidBody ();

    public:
        dBodyID& getBody ();
        
        virtual Island* getIsland ();

        RigidBodyCollider* getRigidBodyCollider ();
        
        Vector3 getAppliedForce  ();
        Vector3 getAppliedTorque ();

        void setBody   (dBodyID& body);
        virtual void setIsland (Island* island);

        void setRigidBodyCollider (RigidBodyCollider* rigidBodyCollider);
        
        void setAppliedForce  (const Vector3& force);
        void setAppliedTorque (const Vector3& torque);
        
        void setRollingMu (const Real rollingMu);
        
        virtual void setLocalPosition            (const Vector3&  localPosition);
        virtual void setLocalRotation            (const Matrix33& localRotation);
        virtual void setLocalVelocity            (const Vector3&  localVelocity);
        virtual void setLocalAngularVelocity     (const Vector3&  localAngularVelocity);
        virtual void setLocalAcceleration        (const Vector3&  localAcceleration);
        virtual void setLocalAngularAcceleration (const Vector3&  localAngularAcceleration);

        virtual void setWorldPosition            (const Vector3&  worldPosition);
        virtual void setWorldRotation            (const Matrix33& worldRotation);
        virtual void setWorldVelocity            (const Vector3&  worldVelocity);
        virtual void setWorldAngularVelocity     (const Vector3&  worldAngularVelocity);
        virtual void setWorldAcceleration        (const Vector3&  worldAcceleration);
        virtual void setWorldAngularAcceleration (const Vector3&  worldAngularAcceleration);

    public:
        void addForce  (const Vector3& force);
        void addTorque (const Vector3& torque);
        
    public:
        virtual void update (Real deltaTime);
        
    protected:
        Island* island;

        dBodyID body;
        Real    rollingMu;

        RigidBodyCollider* rigidBodyCollider;
};

#endif

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