physics/SolidConnectedCollidableBody

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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: SolidConnectedCollidableBody 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_SOLIDCONNECTEDCOLLIDABLEBODY_
#define _PHYSICS_SOLIDCONNECTEDCOLLIDABLEBODY_

#include <physics/physics>

#include <physics/CollidableBody>
#include <physics/Solid>


namespace physics {

/// a CollidableBody whos configuration/state is linked to a Solid
///  (provides a convenient way to use the collision system and SolidSystem together)
class SolidConnectedCollidableBody : virtual public CollidableBody
{
public:
  SolidConnectedCollidableBody(ref<Solid> solid, ref<const Shape> shape) 
    : CollidableBody(shape), solid(solid) {}

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

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

  virtual Point3  getSavedPosition() const { return solid->getSavedPosition(); }
  virtual Orient  getSavedOrientation() const { return solid->getSavedOrientation(); }
  virtual Vector3 getSavedVelocity() const { return solid->getSavedVelocity(); }
  virtual Vector3 getSavedAngVelocity() const { return solid->getSavedAngVelocity(); }
 
 virtual ref<Solid> getSolid() const { return solid; } ///< get Solid to which this CollidableBody is connected

  
protected:
  SolidConnectedCollidableBody() {}
  SolidConnectedCollidableBody(const SolidConnectedCollidableBody& cb) : CollidableBody(cb), solid(cb.solid) {}
  
  ref<Solid> solid; ///< Solid to which this CollidableBody is connected
};
  
  

} // physics

#endif

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