Solid.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_SOLID_H
#define OPAL_SOLID_H

// project headers
#include "CollisionEventHandler.h"
#include "Defines.h"
#include "MovementEventHandler.h"
#include "SolidData.h"

namespace opal
{
        class Mass;
        class Simulator;
        class Space;
        class ShapeData;

        class Solid
        {
                public:
                        Solid();

                        virtual void OPAL_CALL init( const SolidData& data ) = 0;

                        virtual const SolidData& OPAL_CALL getData();

                        virtual void OPAL_CALL setName( const std::string& name );

                        virtual const std::string& OPAL_CALL getName() const;

                        virtual bool OPAL_CALL isEnabled() const;

                        virtual void OPAL_CALL setEnabled( bool e );

                        virtual bool OPAL_CALL isStatic() const;

                        virtual void OPAL_CALL setStatic( bool s ) = 0;

                        virtual void OPAL_CALL setSpace( Space* newSpace ) = 0;

                        virtual void OPAL_CALL setSleeping( bool sleeping ) = 0;

                        virtual bool OPAL_CALL isSleeping() const = 0;

                        virtual void OPAL_CALL setSleepiness( real s );

                        virtual real OPAL_CALL getSleepiness() const;

                        virtual void OPAL_CALL setLinearDamping( real ld );

                        virtual real OPAL_CALL getLinearDamping() const;

                        virtual void OPAL_CALL setAngularDamping( real ad );

                        virtual real OPAL_CALL getAngularDamping() const;

                        virtual void OPAL_CALL setUserData( void* data );

                        virtual void* OPAL_CALL getUserData() const;

                        virtual void OPAL_CALL setTransform( const Matrix44r& t );

                        virtual const Matrix44r& OPAL_CALL getTransform() const;

                        virtual void OPAL_CALL setPosition( real x, real y, real z );

                        virtual void OPAL_CALL setPosition( const Point3r & p );

                        virtual Point3r OPAL_CALL getPosition() const;

                        virtual Vec3r OPAL_CALL getEulerXYZ() const;

                        virtual Quaternion OPAL_CALL getQuaternion() const;

                        virtual void OPAL_CALL setQuaternion( const Quaternion & q );

                        virtual void OPAL_CALL setQuaternion( real w, real x, real y, real z );

                        virtual void OPAL_CALL getLocalAABB( real aabb[ 6 ] ) const;

                        virtual void OPAL_CALL getGlobalAABB( real aabb[ 6 ] ) const;

                        virtual void OPAL_CALL clearShapes() = 0;

                        virtual void OPAL_CALL addShape( ShapeData& data ) = 0;

                        virtual void OPAL_CALL addForce( const Force& f );

                        virtual void OPAL_CALL zeroForces() = 0;

                        virtual void OPAL_CALL setLocalLinearVel( const Vec3r& vel ) = 0;

                        virtual Vec3r OPAL_CALL getLocalLinearVel() const = 0;

                        virtual Vec3r OPAL_CALL getLocalLinearVelAtLocalPos(
                            const Point3r& p ) const = 0;

                        virtual void OPAL_CALL setLocalAngularVel( const Vec3r& vel ) = 0;

                        virtual Vec3r OPAL_CALL getLocalAngularVel() const = 0;

                        virtual void OPAL_CALL setGlobalLinearVel( const Vec3r& vel ) = 0;

                        virtual Vec3r OPAL_CALL getGlobalLinearVel() const = 0;

                        virtual Vec3r OPAL_CALL getGlobalLinearVelAtLocalPos(
                            const Point3r& p ) const = 0;

                        virtual void OPAL_CALL setGlobalAngularVel( const Vec3r& vel ) = 0;

                        virtual Vec3r OPAL_CALL getGlobalAngularVel() const = 0;

                        virtual void OPAL_CALL setMass( const Mass & newmass, const Matrix44r & offset ) = 0;

                        virtual void OPAL_CALL translateMass( const Vec3r& offset ) = 0;

                        virtual void OPAL_CALL setCollisionEventHandler(
                            CollisionEventHandler* eventHandler );

                        virtual CollisionEventHandler* OPAL_CALL
                        getCollisionEventHandler() const;

                        //virtual void OPAL_CALL setFastRotation(bool fast);

                        //virtual bool OPAL_CALL getFastRotation()const;

                        //virtual void OPAL_CALL setFastRotationAxis(Vec3r axis);

                        virtual real OPAL_CALL getMass() const = 0;

                        virtual Matrix44r OPAL_CALL getInertiaTensor() const = 0;

                        virtual bool OPAL_CALL isMoving() const;

                        virtual void OPAL_CALL setMovingState( bool moving );

                        virtual void OPAL_CALL setMovementEventHandler(
                            MovementEventHandler* eventHandler );

                        virtual MovementEventHandler* OPAL_CALL getMovementEventHandler() const;

                        virtual void OPAL_CALL internal_updateOPALTransform() = 0;

                        virtual void OPAL_CALL internal_updateEngineTransform() = 0;

                        virtual void OPAL_CALL internal_applyForces( real stepSize );

                        void internal_updateSleeping();

                        virtual void OPAL_CALL internal_destroy();

                protected:
                        virtual ~Solid();

                        virtual void applyForce( const Force& f ) = 0;

                        void addToLocalAABB( const real aabb[ 6 ] );

                        void resetAABB();

                        std::vector<Force> mForceList;

                        SolidData mData;

                        real mLocalAABB[ 6 ];

                        CollisionEventHandler* mCollisionEventHandler;

                        void* mUserData;

                private:
                        mutable bool mIsMoving;
                        MovementEventHandler* mMovementEventHandler;
        };
}

#endif

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