taoCNode.h

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/* Copyright (c) 2005 Arachi, Inc. and Stanford University.
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject
 * to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included
 * in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
 * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
 * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
 * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
 * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

#ifndef _taoCNode_h
#define _taoCNode_h

#include "deTypes.h"

class deVector3;
class deFrame;

class taoCNode
{
public:
        taoCNode() : _id(-1), _isFixed(0), _cor(0), _cofg(0), _cofv(0), _cofs(0), _cofd(0) {}
        virtual ~taoCNode() {}


        virtual deFrame* frameGlobal() = 0;

        virtual void getFrameGraphics(deFrame* Fg) = 0;

        virtual void setID(const deInt id) { _id = id; }
        virtual deInt getID() { return _id; }

        virtual void setIsFixed(const deInt f) { _isFixed = f; }
        virtual deInt getIsFixed() { return _isFixed; }

        virtual deFloat getCOR() { return _cor; }
        virtual deFloat getCOF_grip() { return _cofg; }
        virtual deFloat getCOF_viscous() { return _cofv; }
        virtual deFloat getCOF_static() { return _cofs; }
        virtual deFloat getCOF_dynamic() { return _cofd; }

        virtual void setCOR(deFloat c) { _cor = c; }

        virtual void setCOF_grip(deFloat c) { _cofg = c; }
        virtual void setCOF_viscous(deFloat c) { _cofv = c; }
        virtual void setCOF_static(deFloat c) { _cofs = c; }
        virtual void setCOF_dynamic(deFloat c) { _cofd = c; }

        virtual deFloat effectiveMass(const deVector3* Pie, const deVector3* Ui) { return 0; }
        virtual void linearVelocity(deVector3* Vie, const deVector3* Pie) {}
        virtual void linearAcceleration(deVector3* Aie, const deVector3* Pie) {}

        virtual void impulse(const deVector3* Pie, const deVector3* Yie) {}

        virtual void impulseDist(const deVector3* Pie, const deVector3* Yie) {}

        virtual void force(const deVector3* Pie, const deVector3* Fie) {}

        virtual deInt impact1(const deVector3* Pie, const deVector3* Ui, const deFloat cor2, const deFloat cofg2);

        virtual deInt impact2(taoCNode* ni, const deVector3* Pie, const deVector3* Ui,
                                                        taoCNode* nj, const deVector3* Pje, const deVector3* Uj);

        virtual deInt penetration1(const deVector3* Pie, const deVector3* Ui, const deVector3* pdist, const deFloat dt);

private:
        deInt _id;
        deInt _isFixed;

        deFloat _cor;
        deFloat _cofg;
        deFloat _cofv;
        deFloat _cofs;
        deFloat _cofd;

        deInt _Impact1(const deVector3* Pie, const deVector3* Ui, const deVector3* V, const deFloat m, const deFloat vp, const deFloat vm, const deFloat cofg2);
        void _Friction(const deVector3* Pie, const deVector3* Ui, const deVector3* Ut, const deFloat vtmag, const deFloat m);
};

#endif // _taoCNode_h

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