source: orxonox.OLD/orxonox/trunk/src/lib/physics/physics_interface.h @ 4376

/*! 
    \file physics_interface.h
    \brief a physics interface simulating a body with a mass
*/

#ifndef _PHYSICS_INTERFACE_H
#define _PHYSICS_INTERFACE_H

#include "vector.h"

//! A Physics interface
/**
   here can be some longer description of this class
*/
class PhysicsInterface {

 public:
  PhysicsInterface();
  virtual ~PhysicsInterface();
  /** \param mass the mass to set for this node. */
  inline void setMass( float mass ) { this->mass = mass; };
  /** \returns the mass of the node. */
  inline float getMass( void ) const { return mass; };
  /** \returns the mass of this node plus all its children (only valid for PNodes). */
  inline float getTotalMass( void ) const { return mass + massChildren; };

  virtual void applyForce( Vector force );                                      //!< Add a central force on this rigid body
  virtual void tickPhys( float dt );                                            //!< Update kinematics, reset force sum

 protected:
  void recalcMass();

  
 private:
  float mass;                   //!< Mass of this object
  float massChildren;           //!< Sum of the masses of the children nodes
  Vector forceSum;              //!< Total central force for this tick
  Quaternion momentumSum;       //!< Total momentum in this tick
        

};

#endif /* _PHYSICS_INTERFACE_H */