physics/SpatialTransform

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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: SpatialTransform 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_SPATIALTRANSFORM_
#define _PHYSICS_SPATIALTRANSFORM_

#include <physics/physics>

#include <physics/Spatial>

#include <base/Transform>


namespace physics {

/// A spatial that wraps a Transform around another Spatial 
///  (its configuration is a relative transform from the child's configuration)
class SpatialTransform : public Spatial
{
public:
  SpatialTransform();
  SpatialTransform(const base::Transform& childTransform);
  SpatialTransform(ref<Spatial> child, const base::Transform& childTransform);
  SpatialTransform(ref<Spatial> child, ref<Spatial> transformedRelativeTo);
  SpatialTransform(const String& name);
  SpatialTransform(const SpatialTransform& st);
  virtual ~SpatialTransform();

  virtual String className() const { return String("SpatialTransform"); }
  
  SpatialTransform& operator=(const SpatialTransform& st);

  virtual void setTransform(const base::Transform& transform);
  virtual base::Transform getTransform() const;
  
  virtual void setChild(ref<Spatial> child);
  virtual ref<Spatial> getChild() const;
  
  // Spatial
  virtual void   setPosition(const Point3& pos);
  virtual Point3 getPosition() const;
  virtual void   setOrientation(const Orient& orient);
  virtual Orient getOrientation() const;
  virtual void setConfiguration(const base::Transform& configuration);
  virtual base::Transform getConfiguration() const;
  


protected:
  base::Transform t;
  base::Transform tinv;
  ref<Spatial> child;
};


} // physics

#endif

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