SO3Engine/SO3PhysicGraph/SO3Body.h

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/*
-----------------------------------------------------------------------------
This source file is part of OpenSpace3D
For the latest info, see http://www.openspace3d.com

Copyright (c) 2010 I-maginer

This program is free software; you can redistribute it and/or modify it under
the terms of the GNU Lesser 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 Lesser General Public License for more details.

You should have received a copy of the GNU Lesser 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, or go to
http://www.gnu.org/copyleft/lesser.txt

You may alternatively use this source under the terms of a specific version of
the OpenSpace3D Unrestricted License provided you have obtained such a license from
I-maginer.
-----------------------------------------------------------------------------
*/

#ifndef __SO3BODY_H__
#define __SO3BODY_H__

#include "..\SCOLBasic\SO3Std.h"
#include "SO3Shape.h"

namespace SO3
{

class SBody
{
public:
protected:
        OgreNewt::Body* O3Body;
  SShape* mShape;
  SNode* mNode;
  SScene* mScene;

        Ogre::Real mMass; 

        Ogre::Vector3 force;
        Ogre::Vector3 torque;
  Ogre::Vector3 constantForce;
        Ogre::Vector3 constantTorque;
        Ogre::Vector3 localForce;
        Ogre::Vector3 globalForce;
        Ogre::Vector3 globalLocationForce;
        Ogre::Vector3 localLocationForce;

private:
  OgreNewt::UpVector* mUpJoint;

public:
  SBody(SNode* node, SShape* shape);
        
  ~SBody();
        
  void BodyAddForceCallback(OgreNewt::Body  * body ,float timeStep, int threadIndex);
  
  bool BodyBuoyancyCallback( int colID, OgreNewt::Body* me, const Ogre::Quaternion& orient, const Ogre::Vector3& pos, Ogre::Plane& plane );
        
  OgreNewt::Body* getOgreNewtBodyPointer();
        
  Ogre::Real GetMass();
        
  bool GetFreezeState();
        
  //Ogre::Vector3 GetInertia();
        
  //Ogre::Vector3 GetOffset();
        
  Ogre::Vector3 GetCenterOfMass();
        
  Ogre::Vector3 GetForce();
        
  Ogre::Vector3 GetTorque();
        
  Ogre::Vector3 GetLocalForce();
        
  Ogre::Vector3 GetGlobalForce();
        
  Ogre::Vector3 GetGlobalLocationForce();
        
  Ogre::Vector3 GetLocalLocationForce();
        
  //void setInertia(Ogre::Vector3 mInteria);

  //void setOffset(Ogre::Vector3 mOffset);
        
  void SetMass(Ogre::Real mMass);
        
  void SetMassMatrix(Ogre::Real mass, Ogre::Vector3 inertial);

  void SetMaterialID(OgreNewt::MaterialID* mMatID);
        
  const OgreNewt::MaterialID* GetMaterialID();

  void SetFreezeState(bool state);
        
  void SetForce(Ogre::Vector3 mForce);
        
  void SetTorque(Ogre::Vector3 mTorque);
        
  void SetOmega(Ogre::Vector3 omega);

  Ogre::Vector3 GetOmega();

  void SetConstantForce(Ogre::Vector3 mForce);
        
  void SetConstantTorque(Ogre::Vector3 mTorque);

  void AddConstantForce(Ogre::Vector3 mForce);
        
  void AddConstantTorque(Ogre::Vector3 mTorque);

  Ogre::Vector3 GetConstantForce();
        
  Ogre::Vector3 GetConstantTorque();

  void SetLocalForce(Ogre::Vector3 mLocalForce);
        
  void SetGlobalForce(Ogre::Vector3 mGlobalForce);
        
  void SetGlobalLocationForce(Ogre::Vector3 mGlobalLocationForce);
        
  void SetLocalLocationForce(Ogre::Vector3 mLocalLocationForce);
  
  void SetBuoyancyForce(SBody* fluidBody);
  
  void SetPositionOrientation(Ogre::Vector3 mDerivedPos, Ogre::Quaternion mDerivedOrientation);
  
  void UpdatePositionOrientation();
  
  void SetMatrix(Ogre::Vector3 mDerivedPos, Ogre::Quaternion mDerivedOrientation);
  
  void SetVelocity(Ogre::Vector3 velocity);

  Ogre::Vector3 GetVelocity();

  void UpdateMatrix();
  
  void AddImpulse(Ogre::Vector3 delta, Ogre::Vector3 pos);

  void SetUpJoint(Ogre::Vector3 vec);

  void RemoveUpJoint();
  
  void SetAngularDamping(Ogre::Vector3 vec);

  Ogre::Vector3 GetAngularDamping();
  
  void SetCenterOfMass(Ogre::Vector3 vec);

  void SetLinearDamping(Ogre::Real ang);

  Ogre::Real GetLinearDamping();

  void SetAutoSleep(bool enable);

  bool GetAutoSleep();

  void SetContinuousCollisionMode(bool enable);

  bool GetContinuousCollisionMode();

  void GetInvMass(Ogre::Real &mass, Ogre::Vector3 &inertia);

  void GetMassMatrix(Ogre::Real &mass, Ogre::Vector3 &inertia);

  bool GetSleepState();

  void GetPositionOrientation(Ogre::Vector3 &pos, Ogre::Quaternion &orient);

  void SetType(int value);

  int GetType();

  SNode* GetParentNode();

protected:
private:
  SBody();
};

}

#endif

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