Body.h

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//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
 
#ifndef RL_MDL_BODY_H
#define RL_MDL_BODY_H
 
#include <unordered_set>
 
#include "Frame.h"
 
namespace rl
{
    namespace mdl
    {
        class Body : public Frame
        {
        public:
            Body();
            
            virtual ~Body();
            
            void forwardAcceleration();
            
            void forwardDynamics1();
            
            void forwardDynamics2();
            
            void forwardDynamics3();
            
            void forwardPosition();
            
            void forwardVelocity();
            
            void inverseDynamics1();
            
            void inverseDynamics2();
            
            void setCenterOfMass(const ::rl::math::Real& x, const ::rl::math::Real& y, const ::rl::math::Real& z);
            
            void setMass(const ::rl::math::Real& m);
            
            void setInertia(const ::rl::math::Real& xx, const ::rl::math::Real& yy, const ::rl::math::Real& zz, const ::rl::math::Real& yz, const ::rl::math::Real& xz, const ::rl::math::Real& xy);
            
            ::rl::math::Vector3 cm;
            
            bool collision;
            
            ::rl::math::ForceVector fX;
            
            ::rl::math::Matrix33 ic;
            
            ::rl::math::Real m;
            
            ::std::unordered_set<Body*> selfcollision;
            
        protected:
            
        private:
            
        };
    }
}
 
#endif // RL_MDL_BODY_H