source: code/branches/ode/ode-0.9/contrib/DotNetManaged/Body.h @ 216

#pragma once

#include "World.h"
#include "CommonMgd.h"

namespace ODEManaged
{       
        __gc public class Body
        {
                public:

                        //Constructors and Destructors
                
                        Body(void);
                        Body(World &world);
                
                        ~Body(void);


                        //Public Methods

                        dBodyID Id();
                        void    SetData                         (void *data);
                        void    *GetData                        (void);

                        //POSITION
                        void SetPosition(double x, double y, double z);
                        Vector3 GetPosition(void);
                        void GetPosition(double  position __gc[]);
                        
                        //ROTATION
                        void SetRotationIdentity(void);
                        void SetRotation(Matrix3 rotation);
                        Matrix3 GetRotation(void);

                        //MASS
                        void SetMass(double mass, Vector3 centerOfGravity, Matrix3 inertia);
                        void SetMassSphere(double density, double radius);
                        void SetMassBox(double density, double sideX, double sideY, double sideZ);
                        void SetMassCappedCylinder(double density, int axis, double cylinderRadius, double cylinderLength);

                        //FORCE AND TORQUE
                        void AddForce(double fX, double fY, double fZ);
                        void AddRelForce(double fX, double fY, double fZ);
                        void AddForceAtPos(double fX, double fY, double fZ,double pX, double pY, double pZ);
                        void AddRelForceAtPos(double fX, double fY, double fZ,double pX, double pY, double pZ);
                        void AddRelForceAtRelPos(double fX, double fY, double fZ,double pX, double pY, double pZ);
                        void ApplyLinearVelocityDrag(double dragCoef);
                        void ApplyAngularVelocityDrag(double dragCoef);

                        
                        void AddTorque(double fX, double fY, double fZ);
                        void AddRelTorque(double fX, double fY, double fZ);

                        //LINEAR VELOCITY
                        void SetLinearVelocity (double x, double y, double z);
                        Vector3 GetLinearVelocity(void);

                        //ANGULAR VELOCITY
                        void SetAngularVelocity (double x, double y, double z);
                        Vector3 GetAngularVelocity(void);

                        //POINT
                        Vector3 GetRelPointPos(double pX, double pY, double pZ);
                        Vector3 GetRelPointVel(double pX, double pY, double pZ);

                        //CONNECTED TO
                        int ConnectedTo (const Body &b);

                private:
                        
                        dBodyID _id;

        };
}