/* 
   orxonox - the future of 3D-vertical-scrollers

   Copyright (C) 2004 orx

   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, or (at your option)
   any later version.

   ### File Specific:
   main-programmer: Adrian Buerli
*/

#include <iostream>

#include "IPhys.h"
#include "stdincl.h"

using namespace std;

IPhys::IPhys ()
{
}

IPhys::~IPhys ()
{
}

// Simulation
void IPhys::simIterate(Uint32 deltaT){
	Vector Accel;
	switch (behav) {
	case B_MASS_POINT:
		Accel = resForce / m;
		vel = vel + (Accel * deltaT);
		pos = pos + (vel * deltaT);
	break;
 	case B_RIGID_BODY:
	break;
 	case B_ELAST_BODY:
	break;
 	case I_SPRING_LINEAR:
 		
	break;
 	case I_DMPSPR_LINEAR:
	break;
 	case I_SPRING_MOMENTUM:
	break;
 	case I_DMPSPR_MOMENTUM:
	break;
 	case F_GRAVITY:
	break;
 	case F_HOVER:
	break;
 	case F_SHOCKWAVE:
	break;
 	case F_BEAM:
	break;
 	default:;
 	}
	resForce = Vector(0,0,0);
};

	
// Exertion of external forces
void IPhys::exertForce( Vector force ){
	resForce = resForce + force;
};

void IPhys::exertMomentum( Vector Momentum ){
	resMomentum = resMomentum + Momentum;
};

// set attributes	
void IPhys::setBehaviour( IPHYS_BEHAVIOUR desiredBehaviour ){
	behav = desiredBehaviour;
};

void IPhys::setBody( float mass ){
	m = mass;
};

void IPhys::setBody( float mass, float inertMoment[] ){
	m = mass;
 	//inertM = inertMoment;
};

void IPhys::setBody( float mass, float inertMoment[], float YoungsModulus ){
	m = mass;
 	//inertM = inertMoment;
 	YE = YoungsModulus;
};
	
void IPhys::setMounts( WorldEntity *point1, WorldEntity *point2 ){
	mounts[0] = point1;
	mounts[1] = point2;
};

void IPhys::setSpring( float neutralLength, float springConst ){
	spNeutralL = neutralLength;
	spConst = springConst;
};

void IPhys::setSpring( float neutralLength, float springConst, float damping ){
	spNeutralL = neutralLength;
	spConst = springConst;
	dmp = damping;
};

void IPhys::setSpring( Quaternion neutralOrientation, float springConst ){
	mspNeutralOri = neutralOrientation;
	spConst = springConst;
};
void IPhys::setSpring( Quaternion neutralOrientation, float springConst, float damping ){
	mspNeutralOri = neutralOrientation;
	spConst = springConst;
	dmp = damping;
};