physics/ODESolid

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/* **-*-c++-*-**************************************************************
  Copyright (C)1996 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: ODESolid 1031 2004-02-11 20:46:36Z jungd $
  $Revision: 1.8 $
  $Date: 2004-02-11 15:46:36 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#ifndef _PHYSICS_ODESOLID_
#define _PHYSICS_ODESOLID_

#include <base/ref>
#include <physics/physics>
#include <physics/Solid>

#include <ode/ode.h>


namespace physics {


class ODESolid : public Solid
{
public:
  ODESolid(const Solid& s);
  virtual ~ODESolid();

  virtual String className() const { return String("ODESolid"); }

  virtual MassProperties massProperties() const;

  virtual Body& operator=(const Body& b);

  virtual void setEnabled(bool enable);
  virtual bool isEnabled() const;


  virtual void setPosition(const Point3& x);
  virtual void setOrientation(const Orient& orient);
  virtual void setVelocity(const Vector3& v);
  virtual void setAngVelocity(const Vector3& w);

  virtual Point3  getPosition() const;
  virtual Orient  getOrientation() const;
  virtual Vector3 getVelocity() const;
  virtual Vector3 getAngVelocity() const;

  virtual void saveState();
  virtual void restoreState();

  virtual Point3  getSavedPosition() const;
  virtual Orient  getSavedOrientation() const;
  virtual Vector3 getSavedVelocity() const;
  virtual Vector3 getSavedAngVelocity() const;

  // Utility
  virtual Point3  getRelPointPos(const Point3& p);
  virtual Vector3 getRelPointVel(const Point3& p);
  virtual Point3  getGlobalPointRelPos(const Point3& p);


  // Force/Torque accumulator functions
  //  (accumulated forces are zero'd before each step)
  virtual void addForce(const Vector3& f);
  virtual void addTorque(const Vector3& t);
  virtual void addRelForce(const Vector3& f);
  virtual void addRelTorque(const Vector3& t);
  virtual void addForceAtPos(const Vector3& f, const Point3& p);
  virtual void addForceAtRelPos(const Vector3& f, const Point3& p);
  virtual void addRelForceAtPos(const Vector3& f, const Point3& p);
  virtual void addRelForceAtRelPos(const Vector3& f, const Point3& p);

  virtual Vector3 getForce() const;
  virtual Vector3 getTorque() const;
  
  virtual ref<Collidable> createCollidable(ref<const Shape> collisionShape, CollidableFlags flags = 0);

  virtual dBodyID getBodyID() const { return bodyID; } ///< get ODE's dBodyID
  
protected:
  ODESolid(ref<const Shape> shape, ref<const Material> material);
  void create(dWorldID worldID) const; ///< create ODE body etc. and add to worldID
  void destroy() const; ///< destroy the body and remove it from the world
  Vector3 AngVelToAngMomentum(const Quat4& orient, const Vector3& w) const;

  virtual void updateVisual() { Solid::updateVisual(); }

  // saved ODE body state
  dVector3    savedPos;
  dQuaternion savedOrient;
  dVector3    savedVel;
  dVector3    savedAngVel;

  mutable bool created;  ///< have ODE entities been created? (creation is delayed until call to create() )
  mutable dWorldID worldID; ///< ODE's world ID (for world this is in)
  mutable dBodyID  bodyID;  ///< ODE's body ID

  friend class ODESolidSystem;
  friend class ODEJoint;
  friend class ODECollisionResponseHandler;
};


} // physics

#endif

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