physics/ODECollidableBody

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/* **-*-c++-*-**************************************************************
  Copyright (C)2003 David Jung <opensim@pobox.com>

  This program/file is free software; you can redistribute it 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. (http://www.gnu.org)
  
  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
  
  $Id: ODECollidableBody 1031 2004-02-11 20:46:36Z jungd $
  $Revision: 1.1 $
  $Date: 2004-02-11 15:46:36 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#ifndef _PHYSICS_ODECOLLIDABLEBODY_
#define _PHYSICS_ODECOLLIDABLEBODY_

#include <physics/physics>

#include <physics/CollidableBody>

#include <ode/ode.h>


namespace physics {


class ODECollidableBody : virtual public CollidableBody
{
public:
  ODECollidableBody(ref<const Shape> shape);
  virtual ~ODECollidableBody();
  
  virtual String className() const { return String("ODECollidableBody"); }

  // DynamicSpatial
  virtual void setPosition(const Point3& x);
  virtual void setOrientation(const Orient& orient);
  virtual void setVelocity(const Vector3& v) { state->vel = v; }
  virtual void setAngVelocity(const Vector3& w) { state->angVel = w; }

  virtual Point3  getPosition() const;
  virtual Orient  getOrientation() const;
  virtual Vector3 getVelocity() const { return state->vel; }
  virtual Vector3 getAngVelocity() const { return state->angVel; }
  
  virtual void saveState();
  virtual void restoreState();

  virtual Point3  getSavedPosition() const { return state->savedPos; }
  virtual Orient  getSavedOrientation() const { return state->savedOrient; }
  virtual Vector3 getSavedVelocity() const { return state->savedVel; }
  virtual Vector3 getSavedAngVelocity() const { return state->savedAngVel; }
  
  virtual dGeomID getGeomID() const { return geomID; }
  
protected:
  ODECollidableBody() {}
  ODECollidableBody(ref<const Shape> shape, bool holdState) : CollidableBody(shape) { init(holdState); }
  ODECollidableBody(const ODECollidableBody& cb) 
    : CollidableBody(cb)
  {
    init(false);
    if (cb.state) 
      state = ref<BodyState>( dynamic_cast<BodyState*>(&cb.state->clone()) ); 
  }

  
  dGeomID  geomID;  ///< ODE's geom ID (corresponding to shape - has pos/orient)
  void createGeom(); ///< create ODE geom from Shape
  
  class BodyState : public base::ReferencedObject, public base::Cloneable
  {
  public:
    BodyState() {}
    BodyState(const BodyState& bs) 
      : vel(bs.vel), angVel(bs.angVel),
        savedPos(bs.savedPos), savedOrient(bs.savedOrient), savedVel(bs.savedVel), savedAngVel(bs.savedAngVel) {}
        
    virtual String className() const { return String("BodyState"); }
    virtual Object& clone() const { return *NewObj BodyState(*this); }
        
    Vector3 vel;
    Vector3 angVel;
    
    // saved state
    Point3 savedPos;
    Orient savedOrient;
    Vector3 savedVel;
    Vector3 savedAngVel;
  };
  
  ref<BodyState> state;
  
  void init(bool holdState)
  {
    createGeom();
    if (holdState) 
      state = ref<BodyState>(NewObj BodyState());
  }
  
};
  
  

} // physics

#endif

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