source: code/branches/physics_new/src/ogreode/OgreOdeMass.h @ 2119

#ifndef _OGREODEMASS_H_
#define _OGREODEMASS_H_

#include "OgreOdePreReqs.h"

namespace OgreOde 
{
        class _OgreOdeExport Mass
        {
                friend class Body;

        public:
                Mass();
        Mass(Ogre::Real mass, const Ogre::Vector3& center_of_gravity, const Ogre::Matrix3& intertia_matrix); 
                virtual ~Mass();

                inline Mass(const Mass& other)
                {
                        memcpy(&_mass,&(other._mass),sizeof(_mass));
                }

                inline Mass& operator=(const Mass& other)
                {
                        memcpy(&_mass,&(other._mass),sizeof(_mass));
                        return *this;
                }

                inline Mass& operator=(const dMass* other)
                {
                        assert(other);
                        memcpy(&_mass,other,sizeof(_mass));
                        return *this;
                }

                void adjust(Ogre::Real mass); 
                void translate(const Ogre::Vector3& offset); 
                void rotate(const Ogre::Quaternion& orientation); 
                void add(const Mass& other); 
                
                // total mass of the rigid body
                Ogre::Real getMassValue() const;
                // center of gravity position in body frame (x,y,z)
                Ogre::Vector3 getCenterOfGravity() const;
                // 3x3 inertia tensor in body frame, about POR
                Ogre::Matrix3 getLocalInertiaTensor() const; 

        protected:
                const dMass* getMassPtr() const;
                dMass _mass;
        };

        class _OgreOdeExport SphereMass:public Mass
        {
        public:
                SphereMass();
                SphereMass(Ogre::Real mass, Ogre::Real radius);
                ~SphereMass();

                void setDensity(Ogre::Real density, Ogre::Real radius);
        };
        
        // To add
        // void dMassSetTrimesh(dMass *, dReal density, dGeomID g)

        class _OgreOdeExport CapsuleMass:public Mass
        {
        public:
                CapsuleMass();
                CapsuleMass(Ogre::Real mass, Ogre::Real radius,const Ogre::Vector3& direction, Ogre::Real length);
                ~CapsuleMass();

                void setDensity(Ogre::Real density, Ogre::Real radius,const Ogre::Vector3& direction, Ogre::Real length);
        };

        class _OgreOdeExport CylinderMass:public Mass
        {
        public:
                CylinderMass();
                CylinderMass(Ogre::Real mass,const Ogre::Vector3& direction, Ogre::Real radius, Ogre::Real length);
                ~CylinderMass();

                void setDensity(Ogre::Real density,const Ogre::Vector3& direction, Ogre::Real radius, Ogre::Real length);
        };

        class _OgreOdeExport BoxMass:public Mass
        {
        public:
                BoxMass();
                BoxMass(Ogre::Real mass,const Ogre::Vector3& size);
                ~BoxMass();

                void setDensity(Ogre::Real density,const Ogre::Vector3& size);
        };
}

#endif