RigidObject.h

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/********************************************************************
**                Image Component Library (ICL)                    **
**                                                                 **
** Copyright (C) 2006-2014 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
** Website: www.iclcv.org and                                      **
**          http://opensource.cit-ec.de/projects/icl               **
**                                                                 **
** File   : ICLPhysics/src/ICLPhysics/RigidObject.h                **
** Module : ICLPhysics                                             **
** Author : Christof Elbrechter, Matthias Esau                     **
**                                                                 **
**                                                                 **
** GNU LESSER GENERAL PUBLIC LICENSE                               **
** This file may be used under the terms of the GNU Lesser General **
** Public License version 3.0 as published by the                  **
**                                                                 **
** Free Software Foundation and appearing in the file LICENSE.LGPL **
** included in the packaging of this file.  Please review the      **
** following information to ensure the license requirements will   **
** be met: http://www.gnu.org/licenses/lgpl-3.0.txt                **
**                                                                 **
** The development of this software was supported by the           **
** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
**                                                                 **
********************************************************************/
#pragma once

#include <ICLPhysics/PhysicsObject.h>
#include <ICLGeom/GeomDefs.h>

class btRigidBody;

namespace icl{
  namespace physics{

                class ICLPhysics_API RigidObject : public PhysicsObject{

                public:

                        enum ActivationMode {
                                DYNAMIC = 0,    // ACTIVE_TAG - Disables the object after a certain time interval. Use setActive() to make it active again and reset the time-counter
                                ACTIVE_FOREVER = 1,     // DISABLE_DEACTIVATION
                                INACTIVE_FOREVER = 2,   // DISABLE_SIMULATION
                                BT_ISLAND_SLEEPING = 3, // ISLAND_SLEEPING - (not recommented)
                                TOWARDS_INACTIVE = 4    // WANTS_DEAKTIVATION - disables the object after each step directly
                        };

      RigidObject();

      virtual btRigidBody *getRigidBody();

      virtual const btRigidBody *getRigidBody() const {
        return this->getRigidBody();
      }

      void setLinearVelocity(geom::Vec velocity);

      void setAngularVelocity(geom::Vec velocity);

      geom::Vec getLinearVelocity();

      geom::Vec getAngularVelocity();

                        geom::Vec getTotalForce();

                        geom::Vec getTotalTorque();

      void applyForce(geom::Vec force, geom::Vec relPos);

      void applyCentralForce(geom::Vec force);

                        void applyImpulse(geom::Vec force, geom::Vec relPos);

                        void applyCentralImpulse(geom::Vec force);

                        void applyTorque(geom::Vec t);

                        void applyTorqueImpulse(geom::Vec t);

                        void setDeactivationTime(float time);

      void setDamping(float linear, float angular);

                        void setActivationMode(ActivationMode const mode);

                        void setActive(bool force_active = false);

      virtual ~RigidObject();

      float getMass();
      void setMass(float mass);
    };
  }
}