worldsim/include/phyobject.h

/********************************************************************************
 *  WorldSim -- library for robot simulations                                   *
 *  Copyright (C) 2008-2011 Gianluca Massera <emmegian@yahoo.it>                *
 *                                                                              *
 *  This program 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.                                *
 *                                                                              *
 *  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., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA  *
 ********************************************************************************/

#ifndef PHYOBJECT_H
#define PHYOBJECT_H

#include "worldsimconfig.h"
#include "wvector.h"
#include "wmatrix.h"
#include "wquaternion.h"
#include "world.h"

namespace farsa {

class PhyJoint;
class PhyObjectPrivate;
class WorldPrivate;
class PhyCompoundObject;

class FARSA_WSIM_API PhyObject : public WObject {
    Q_OBJECT
public:
    PhyObject( World* world, QString name="unamed", const wMatrix& tm = wMatrix::identity(), bool cp = true );
    virtual ~PhyObject();

    void setKinematic(bool b, bool c = false);

    bool getKinematic() const
    {
        return isKinematic;
    }

    void setStatic(bool b);

    bool getStatic() const
    {
        return isStatic;
    }
    
    void reset();
    
    void addForce( const wVector& force );
    void setForce( const wVector& force);
    wVector force();
    
    void addTorque( const wVector& torque );
    void setTorque( const wVector& torque );
    wVector torque();
    
    void setMassInertiaVec( const wVector& );
    wVector massInertiaVec() const;
    wVector inertiaVec() const;
    wVector invMassInertiaVec() const;
    wVector invInertiaVec() const;
    void setMass( real );
    real mass();

    void setOmega( const wVector& omega );
    wVector omega();
    void setVelocity( const wVector& velocity );
    wVector velocity();
    void addImpulse( const wVector& pointDeltaVeloc, const wVector& pointPosit );
    void setMaterial( QString material );
    QString material() const;
private:
    QString materialv;
    wVector forceAcc;
    wVector torqueAcc;
    bool isKinematic;
    bool isStatic;
    wVector objInertiaVec;
    wVector objInvInertiaVec;
protected:
    virtual void changedMatrix();
    PhyObjectPrivate* priv;
    WorldPrivate* worldpriv;
    friend class PhyObjectPrivate;
    friend class WorldPrivate;
    friend class PhyJoint;
    friend class World;
    friend class PhyCompoundObject;
    void createPrivateObject();
};

} // end namespace farsa

#endif