source: orxonox.OLD/orxonox/branches/physics/src/util/physics/i_physics.h @ 4221

/*! 
    \file i_physics.h
    \brief a physics interface simulating a body with a mass
*/

#ifndef _I_PHYSICS_H
#define _I_PHYSICS_H

#include "p_node.h"

//! A Physics interface
/**
   here can be some longer description of this class
*/
class IPhysics : public PNode {

 public:
  IPhysics();
  virtual ~IPhysics();
  
  inline void setMass( float mass ) { this->mass = mass; };                                     //!< Set the mass of this node
  inline float getMass( void ) const { return mass; };                                          //!< Get the mass of this node
  inline float getTotalMass( void ) const { return mass + massChildren; };      //!< Get the sum of the masses of this node and all subnodes
  void addForce( Vector force );                                                                        //!< Add a central force on this rigid body
  void addForce( Vector force, Vector grip );                                           //!< Add a decentral force on this rigid body
  void tick( float dt );                                                                                        //!< Update kinematics, reset force sum

 protected:
  void recalcMass();            //!< Recalculate the mass of the children
  float mass;                           //!< Mass of this node
  float massChildren;           //!< Sum of the masses of the children nodes
  Vector forceSum;                      //!< Total central force for this tick
  Quaternion momentumSum;       //!< Total momentum in this tick

 private:
        

};

#endif /* _I_PHYSICS_H */