ODESolid.h

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/*************************************************************************
 *                                                                       *
 * Open Physics Abstraction Layer                                        *
 * Copyright (C) 2004-2005                                               *
 * Alan Fischer  alan.fischer@gmail.com                                  *
 * Andres Reinot  andres@reinot.com                                      *
 * Tyler Streeter  tylerstreeter@gmail.com                               *
 * All rights reserved.                                                  *
 * Web: opal.sourceforge.net                                             *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) 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. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file license-LGPL.txt.                                          *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file license-BSD.txt.                                       *
 *                                                                       *
 * 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 files    *
 * license-LGPL.txt and license-BSD.txt for more details.                *
 *                                                                       *
 *************************************************************************/

#ifndef OPAL_ODE_SOLID_H
#define OPAL_ODE_SOLID_H

#include <ode/ode.h>
#include "../Defines.h"
#include "../Solid.h"
#include "../Blueprint.h"

namespace opal
{
        struct GeomData
        {
                GeomData()
                {
                        solid = NULL;
                        shape = NULL;
                        geomID = 0;
                        spaceID = 0;
                        transformID = 0;
                        trimeshDataID = 0;
                }

                Solid* solid;
                ShapeData* shape;
                dGeomID geomID;
                dSpaceID spaceID;
                dGeomID transformID;
                dTriMeshDataID trimeshDataID; // only used for Solids with trimeshes
        };

        class ODESolid : public Solid
        {
        public:
                ODESolid(dWorldID worldID, dSpaceID spaceID);

                virtual ~ODESolid();

                virtual void OPAL_CALL init(const SolidData& data);

                virtual void OPAL_CALL setEnabled(bool e);

                virtual void OPAL_CALL setSleeping(bool sleeping);

                virtual void OPAL_CALL setSpace(Space* newSpace);

                virtual bool OPAL_CALL isSleeping()const;

                virtual void OPAL_CALL setSleepiness(real s);

                virtual void OPAL_CALL setStatic(bool s);

                virtual void OPAL_CALL clearShapes();

                virtual void OPAL_CALL addShape(ShapeData& data);

                virtual void OPAL_CALL setLocalLinearVel(const Vec3r& vel);

                virtual Vec3r OPAL_CALL getLocalLinearVel()const;

                virtual Vec3r OPAL_CALL getLocalLinearVelAtLocalPos(
                        const Point3r& p)const;

                virtual void OPAL_CALL setLocalAngularVel(const Vec3r& vel);

                virtual Vec3r OPAL_CALL getLocalAngularVel()const;

                virtual void OPAL_CALL setGlobalLinearVel(const Vec3r& vel);

                virtual Vec3r OPAL_CALL getGlobalLinearVel()const;

                virtual Vec3r OPAL_CALL getGlobalLinearVelAtLocalPos(
                        const Point3r& p)const;

                virtual void OPAL_CALL setGlobalAngularVel(const Vec3r& vel);

                virtual Vec3r OPAL_CALL getGlobalAngularVel()const;

                virtual void OPAL_CALL setMass( const Mass & newmass, const Matrix44r & offset );

                virtual void OPAL_CALL translateMass(const Vec3r& offset);

                //virtual void OPAL_CALL setFastRotation(bool fast);

                //virtual bool OPAL_CALL getFastRotation()const;

                //virtual void OPAL_CALL setFastRotationAxis(Vec3r axis);

                virtual void OPAL_CALL zeroForces();

                virtual real OPAL_CALL getMass()const;

                virtual Matrix44r OPAL_CALL getInertiaTensor()const;

                virtual void OPAL_CALL internal_updateOPALTransform();

                virtual void OPAL_CALL internal_updateEngineTransform();

                dBodyID OPAL_CALL internal_getBodyID()const;

                void OPAL_CALL internal_setCollisionCount(long int count);

                long int OPAL_CALL internal_getCollisionCount()const;

                const std::vector<GeomData*>* OPAL_CALL internal_getGeomDataList()const;

                void OPAL_CALL internal_doAngularVelFix();

                void OPAL_CALL internal_setFreelySpinning(bool fs);

        protected:
                void setupNewGeom(GeomData* newGeom);

                void destroyGeoms();

                void moveToSpace();

                virtual void applyForce(const Force& f);

                void addMass(dMass& newMass, const Matrix44r& offset);

                void setMass(dMass& newMass, const Matrix44r& offset);

                bool isInertiaNonSymmetric(const dMass& mass)const;

                dBodyID mBodyID;

                dWorldID mWorldID;

                dSpaceID mSpaceID;

                std::vector<GeomData*> mGeomDataList;

                long int mCollisionCount;

                bool mIsPlaceable;

                bool mNonSymmetricInertia;

                bool mIsFreelySpinning;

                real mPrevAngVelMagSquared;

        private:
        };
}

#endif

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