source: orxonox.OLD/orxonox/branches/buerli/src/IPhys.h @ 3196

/*! 
    \file IPhys.h
    \brief Interface to physics engine
*/

#ifndef IPHYS_H
#define IPHYS_H

#include "stdincl.h"

//! Avaiable types of behaviour for a physical object. Mainly determines which
//! attributes are used and what calculations are done.
enum IPHYS_BEHAVIOUR {
        //      Bodies
        B_MASS_POINT,                   //!< Body: No orientation, just a inf. small mass
        B_RIGID_BODY,                   //!< Body: Rigid Body, lossless bumping
        B_ELAST_BODY,                   //!< Body: Rigid, lossy bumping
        //      Interactions
        I_SPRING_LINEAR,                //!< Interaction: Linear, ideal spring
        I_DMPSPR_LINEAR,                //!< Interaction: Linear, damped spring
        I_SPRING_MOMENTUM,              //!< Interaction: Momentum spring, ideal
        I_DMPSPR_MOMENTUM,              //!< Interaction: Momentum spring, damped
        //  Fields
        F_GRAVITY,                              //!< Field: Gravity field in some direction
        F_HOVER,                                //!< Field: Something like antigravity (hover drive)
        F_SHOCKWAVE,                    //!< Field: Cylindrical Shockwave
        F_BEAM                                  //!< Field: Electromagnetic beam (exerts pressure on intersecting objects)
};

class IPhys
{
  public:
        IPhys ();
        ~IPhys ();
                
        // Simulation
        void simIterate(Uint32 deltaT);
        
        // Exertion of external forces
        void exertForce( Vector force );
        void exertMomentum( Vector Momentum );

        // set attributes       
        void setBehaviour( IPHYS_BEHAVIOUR desiredBehaviour );
        void setBody( float mass );
        void setBody( float mass, float inertMoment[] );
        void setBody( float mass, float inertMoment[], float YoungsModulus );
        
        void setMounts( WorldEntity *point1, WorldEntity *point2 );
        void setSpring( float neutralLength, float springConst );
        void setSpring( float neutralLength, float springConst, float damping );
        void setSpring( Quaternion neutralOrientation, float springConst );
        void setSpring( Quaternion neutralOrientation, float springConst, float damping );

        //void setInfluence
        //void setGravity
        
        // get attributes       
        Placement getPlacement() ;
        float getMass();
        float* getInertMoment();

                
  private:
        IPHYS_BEHAVIOUR behav;          //!< Behaviour
        Vector pos;                                     //!< Position
        Quaternion ori;                         //!< Orientation
        
        Vector vel;                                     //!< Velocity
        Quaternion rot;                         //!< Rotation
        
        Vector resForce;                        //!< Resulting force
        Vector resMomentum;                     //!< Resulting Momentum
        
        // Attributes for bodies
    float m;                                    //!< Mass
    float inertM[3,3];                  //!< Inertial Moment Matrix
    float YE;                                   //!< Youngs Modulus E (Elasticity)
    
    // Attributes for interactions
    WorldEntity* mounts[2];             //!< Mounts; meaning depends on obj. behaviour
    float spNeutralL;                   //!< Spring neutral length
    float spConst;                              //!< Spring constant k
    float dmp;                                  //!< Damping    
    Quaternion mspNeutralOri;   //!< Momentum spring neutral orientation
    
        
};

#endif