vrsode/include/vrsode/PhysicsBody.h

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#ifndef _VRSODE_PHYSICS_BODY_H_
#define _VRSODE_PHYSICS_BODY_H_

#include <ode/ode.h>
#include <vrs/sharedobj.h>

#include "CollisionBody.h"

namespace vrsode
{

class PhysicsBody : public CollisionBody
{
    dBodyID m_bodyId;

    bool m_highSpeedRotationMode;
    VRS::Vector m_highSpeedRotationAxis;

    bool m_forceSync;

public:
    PhysicsBody(VRS::SO<VRS::SceneThing>, CollisionShape, 
            bool forceSync = false);

    PhysicsBody(VRS::SO<VRS::SceneThing>, VRS::SO<Shape>, 
            bool forceSync = false);

    ~PhysicsBody();

    dBodyID bodyId();

    double mass();

    void setMass(double, VRS::Vector = VRS::Vector(0,0,0));

    bool isEnabled() const;

    void setEnabled(bool);

    void setAutoDisableMode(bool);

    void setAutoDisableLinearThreshold(double);

    void setAutoDisableAngularThreshold(double);

    void setAutoDisableTime(double);

    void setAutoDisableSteps(unsigned int);

    void setHighSpeedRotationMode(bool = true);

    void setHighSpeedRotationAxis(VRS::Vector);

    void setHighSpeedRotationAxis(double, double, double);

    void setIgnoreGravity(bool = true);

    void syncTransformationsToODE();

    void syncTransformationsToVRS();

    void update();

    void setAngularVelocity(VRS::Vector);

    void setLinearVelocity(VRS::Vector);

    VRS::Vector angularVelocity();

    VRS::Vector linearVelocity();

    void addForce(VRS::Vector);

    void addTorque(VRS::Vector);

    void addRelativeForce(VRS::Vector);

    void addRelativeTorque(VRS::Vector);

    void addForceAtPosition(VRS::Vector, VRS::Vector);

    void addRelativeForceAtPosition(VRS::Vector, VRS::Vector);

    void addForceAtRelativePosition(VRS::Vector, VRS::Vector);

    void addRelativeForceAtRelativePosition(VRS::Vector, VRS::Vector);

    virtual void destroy();
};

}

#endif

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