RigidBodyPoint.h

/***************************************************************************
 *   This file is part of OpenCAL: Open Computer Animation Library         *
 *   I created OpenCAL as my master's thesis Computer Science (multimedia) *
 *   at the tUL university in Diepenbeek, Belgium                          *
 *                                                                         *
 *   Copyright (C) 2003-2004 by Jeroen Dierckx                             *
 *   jeroen.dierckx@student.luc.ac.be                                      *
 *                                                                         *
 ***************************************************************************/

#ifndef OPENCAL_RIGIDBODYPOINT_H
#define OPENCAL_RIGIDBODYPOINT_H

// Includes
#include <OpenCAL/global.h>
#include <OpenCAL/PhysicalObject.h>
#include <OpenCAL/Vector3.h>
using OpenCAL::Utils::Vector3;

namespace OpenCAL
{
    // Forward declarations
    class RigidBody;

    class OPENCAL_API RigidBodyPoint: public PhysicalObject
    {
    protected:
        // Member variables
        RigidBody *m_object;
        Vector3 m_bodyPosition;

    public:
        // Constructors and destructor
        RigidBodyPoint(RigidBody *object, const Vector3 &bodyPosition);
        virtual ~RigidBodyPoint();

        // Get functions
        const Vector3 &getPosition() const { calcPosition(); return m_position; }
        Vector3 *getPositionP() { calcPosition(); return &m_position; }
        const Vector3 &getVelocity() const { calcVelocity(); return m_velocity; }
        Vector3 *getVelocityP() { calcVelocity(); return &m_velocity; }

        // Force functions
        void addForce(const Vector3 &force);


        // Other functions
        void render();

        // State functions
        void addToState(PhaseSpace *state) {}
        void addToDerivative(PhaseSpace *deriv) {}
        void fromState(PhaseSpace *state) {}

    protected:
        // Protected functions
        void calcPosition() const;
        void calcVelocity() const;
    };
}

#endif // OPENCAL_RIGIDBODYPOINT_H

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