physics/Solid

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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: Solid 1031 2004-02-11 20:46:36Z jungd $
  $Revision: 1.7 $
  $Date: 2004-02-11 15:46:36 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#ifndef _PHYSICS_SOLID_
#define _PHYSICS_SOLID_

#include <physics/physics>

#include <base/ref>
#include <gfx/Visual>

#include <physics/Body>
#include <physics/Material>
#include <physics/MassProperties>
#include <physics/CollidableBody>
#include <physics/CollidableProvider>

#include <osg/MatrixTransform>
#include <osg/Node>


namespace physics {


class Solid : public Body, public gfx::Visual, public CollidableProvider
{
public:
  Solid(const Solid& s);
  virtual ~Solid();

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

  virtual void setName(const String& name) { base::Named::setName(name); }

  virtual MassProperties massProperties() const;
  virtual ref<const Material> getMaterial() const { return material; }

  virtual void setEnabled(bool enable) = 0;
  virtual bool isEnabled() const = 0;

  // Force/Torque accumulator functions
  //  (accumulated forces are zero'd before each step)
  virtual void addForce(const Vector3& f) = 0;
  virtual void addTorque(const Vector3& t) = 0;
  virtual void addRelForce(const Vector3& f) = 0;
  virtual void addRelTorque(const Vector3& t) = 0;
  virtual void addForceAtPos(const Vector3& f, const Point3& p) = 0;
  virtual void addForceAtRelPos(const Vector3& f, const Point3& p) = 0;
  virtual void addRelForceAtPos(const Vector3& f, const Point3& p) = 0;
  virtual void addRelForceAtRelPos(const Vector3& f, const Point3& p) = 0;

  virtual Vector3 getForce() const = 0;
  virtual Vector3 getTorque() const = 0;

  
  // CollidableProvider
  static const CollidableProvider::CollidableFlag SolidNotConnected = 1;
  /// create CollidableBody (not connected to Solid if flags contains SolidNotConnected - i.e. not SolidConnectedCollidableBody)
  virtual ref<Collidable> createCollidable(CollidableFlags flags = 0) { return createCollidable(getShape(), flags); }
  virtual ref<Collidable> createCollidable(ref<const Shape> collisionShape, CollidableFlags flags = 0) = 0;

  // Visual
  virtual bool visualTypeSupported(VisualType type) const { return (type==OSGVisual); }
  virtual osg::Node* createOSGVisual(Visual::Attributes visualAttributes=0) const;

protected:
  Solid() {}
  Solid(ref<const Shape> shape, ref<const Material> material);

  virtual void updateVisual(); ///< update the visual to the current position & orientation state (does nothing if no Visual requested)

  ref<const Material> material;
  
  mutable Visual::Attributes attributes;
  mutable ref_ptr<osg::Node> node;

  // !!! maybe this should be an osg::PositionAttitudeTransform instead??
  mutable osg::MatrixTransform* worldTransform; ///< transforms visual to current solid position/orientation

  friend class SolidSystem;

};


} // physics

#endif

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