source: code/branches/physics/src/ogrebullet/Dynamics/OgreBulletDynamicsRigidBody.h @ 2404

/***************************************************************************

This source file is part of OGREBULLET
(Object-oriented Graphics Rendering Engine Bullet Wrapper)
For the latest info, see http://www.ogre3d.org/phpBB2addons/viewforum.php?f=10

Copyright (c) 2007 tuan.kuranes@gmail.com (Use it Freely, even Statically, but have to contribute any changes)



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

You should have received a copy of the GPL General Public License with runtime exception 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/licenses/old-licenses/gpl-2.0.html
-----------------------------------------------------------------------------
*/

#ifndef _OGREBULLETDYNAMICS_RigidObject_H
#define _OGREBULLETDYNAMICS_RigidObject_H

#include "OgreBulletDynamicsPreRequisites.h"

#include "OgreBulletCollisionsObject.h"
#include "OgreBulletCollisionsWorld.h"
#include "Utils/OgreBulletConverter.h"

#include "OgreBulletDynamicsWorld.h"

#include "Constraints/OgreBulletDynamicsRaycastVehicle.h"

namespace OgreBulletDynamics
{
    // -------------------------------------------------------------------------
    // basic rigid body class
    class RigidBody : public OgreBulletCollisions::Object
    {
    public:
            RigidBody(const Ogre::String &name, 
                                  DynamicsWorld *world,
                                  const short collisionGroup = 0,
                                  const short collisionMask = 0);

            virtual ~RigidBody();

        void setShape(Ogre::SceneNode *node, 
            OgreBulletCollisions::CollisionShape *shape,
            const float      bodyRestitution,
            const float      bodyFriction,
            const float      bodyMass,
            const Ogre::Vector3 &pos = Ogre::Vector3::ZERO, 
            const Ogre::Quaternion &quat = Ogre::Quaternion::IDENTITY);

        void setStaticShape(Ogre::SceneNode *node,
            OgreBulletCollisions::CollisionShape *shape,
            const float      bodyRestitution,
            const float      bodyFriction,
            const Ogre::Vector3 &pos = Ogre::Vector3::ZERO, 
            const Ogre::Quaternion &quat = Ogre::Quaternion::IDENTITY);

        void setStaticShape(OgreBulletCollisions::CollisionShape *shape,
            const float      bodyRestitution,
            const float      bodyFriction,
            const Ogre::Vector3 &pos = Ogre::Vector3::ZERO, 
            const Ogre::Quaternion &quat = Ogre::Quaternion::IDENTITY);


        void setLinearVelocity(const Ogre::Vector3 &vel);
        void setLinearVelocity(const Ogre::Real x, const Ogre::Real y, const Ogre::Real z);
                Ogre::Vector3 getLinearVelocity();
        void applyImpulse(const Ogre::Vector3 &impulse, const Ogre::Vector3 &position);
        void applyForce(const Ogre::Vector3 &impulse, const Ogre::Vector3 &position);


        inline btRigidBody*         getBulletRigidBody() const;
        inline btDynamicsWorld*     getBulletDynamicsWorld() const;
        inline DynamicsWorld*       getDynamicsWorld();

        Ogre::SceneNode*  getSceneNode() const {return mRootNode;};

        inline bool isStaticObject() const;
        inline bool isKinematicObject() const;

                void setKinematicObject(bool isKinematic);

        inline void disableDeactivation();
        inline void enableActiveState ();
        inline void forceActivationState();
        void setDeactivationTime(const float ftime);

        inline const btTransform &getCenterOfMassTransform() const;
        inline Ogre::Quaternion    getCenterOfMassOrientation () const;
        inline Ogre::Vector3 getCenterOfMassPosition() const;

        Ogre::Vector3       getCenterOfMassPivot (const Ogre::Vector3 &pivotPosition) const;
        
        void setDamping( const Ogre::Real linearDamping, const Ogre::Real angularDamping );
        protected:
                short mCollisionGroup;
                short mCollisionMask;
    };
    // -------------------------------------------------------------------------
    // basic rigid body class
    class WheeledRigidBody : public RigidBody
    {
    public:
        WheeledRigidBody(const Ogre::String &name, DynamicsWorld *world): 
            RigidBody(name, world),
                mVehicle(0)
        {
        };

        
        void setVehicle(RaycastVehicle *v){mVehicle = v;};

       virtual void setPosition(const btVector3 &pos);
       virtual void setOrientation(const btQuaternion &quat);
       virtual void setTransform(const btVector3 &pos, const btQuaternion &quat);
       virtual void setTransform(const btTransform& worldTrans);

        virtual ~WheeledRigidBody(){};

    protected:
                RaycastVehicle *mVehicle;

    };
    // -------------------------------------------------------------------------
    // basic rigid body class inline methods
    // -------------------------------------------------------------------------
    inline btRigidBody*  RigidBody::getBulletRigidBody() const 
    {
        return static_cast <btRigidBody* > (mObject);
    };
    // -------------------------------------------------------------------------
    inline btDynamicsWorld*     RigidBody::getBulletDynamicsWorld() const 
    { 
        return static_cast <btDynamicsWorld * > (mWorld->getBulletCollisionWorld ());
    };
    // -------------------------------------------------------------------------
    inline DynamicsWorld*       RigidBody::getDynamicsWorld() 
    { 
        return static_cast <DynamicsWorld* > (mWorld);
    };
    // -------------------------------------------------------------------------
    inline bool RigidBody::isStaticObject() const 
    {
        return getBulletRigidBody()->isStaticObject();
    }
    // -------------------------------------------------------------------------
    inline bool RigidBody::isKinematicObject() const 
    {
        return getBulletRigidBody()->isKinematicObject();
    };
    // -------------------------------------------------------------------------
    inline void RigidBody::disableDeactivation()
    {
        getBulletRigidBody()->setActivationState(DISABLE_DEACTIVATION);
    }
    // -------------------------------------------------------------------------
    inline void RigidBody::enableActiveState()
    {
        getBulletRigidBody()->setActivationState(ACTIVE_TAG);
    }
    // -------------------------------------------------------------------------
    inline void RigidBody::forceActivationState()
    {
        getBulletRigidBody()->forceActivationState(ACTIVE_TAG);
    }
    // -------------------------------------------------------------------------
    // -------------------------------------------------------------------------
    inline const btTransform &RigidBody::getCenterOfMassTransform() const
    {
        return getBulletRigidBody()->getCenterOfMassTransform();
    }
    // -------------------------------------------------------------------------
    inline Ogre::Quaternion RigidBody::getCenterOfMassOrientation() const
    {
        return OgreBulletCollisions::BtOgreConverter::to(getCenterOfMassTransform().getRotation ());
    }
    // -------------------------------------------------------------------------
    inline Ogre::Vector3 RigidBody::getCenterOfMassPosition() const
    {
        return OgreBulletCollisions::BtOgreConverter::to(getBulletRigidBody()->getCenterOfMassPosition());
    }
    // -------------------------------------------------------------------------   
    
}
#endif //_OGREBULLETDYNAMICS_RigidObject_H