Body.h

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/*  Copyright (C) 2003-2021 Free Electron Organization
    Any use of this software requires a license.  If a valid license
    was not distributed with this file, visit freeelectron.org. */

/** @file */

#ifndef __ode_Body_h__
#define __ode_Body_h__
namespace fe
{
namespace ext
{


class FE_DL_EXPORT Body : public BodyI
{
    public:
                Body(dWorldID a_world_id);
virtual         ~Body(void);

virtual void    setMass(const Mass &a_mass);
virtual void    getMass(Mass &a_mass);
virtual void    setPosition(const Vector3 &a_pos);
virtual void    setRotation(const SpatialTransform &a_rotation);
virtual void    getPosition(Vector3 &a_pos);
virtual void    getRotation(SpatialTransform &a_rotation);
virtual void    applyForce(const SpatialVector &a_force,
                    const SpatialVector &a_pos);
virtual void    applyTorque(const SpatialVector &a_torque);
virtual void    getVelocity(SpatialVector &a_velocity,
                    const SpatialVector &a_pos);
virtual void    getAngularVelocity(SpatialVector &a_velocity);

virtual void    translate(const SpatialVector &a_displ);

virtual hp<MechanicsSimI> &sim(void) { return m_spSim; }

        dBodyID id(void) { return m_id; }


    private:
        dBodyID             m_id;
        SpatialVector       m_offset;
        hp<MechanicsSimI>   m_spSim;

};

} /* namespace ext */
} /* namespace fe */

#endif /* __ode_Body_h__ */