taoDNode.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 _taoDNode_h
#define _taoDNode_h

#include "taoTypes.h"
#include "taoCNode.h"

class taoABNode;
class taoJoint;
class deVector3;
class deVector6;
class deFrame;
class deMatrix3;

class taoDNode : public taoCNode
{
public:
        taoDNode() : _abNode(NULL), _propagate(1) {}
        virtual ~taoDNode() {}
        virtual void sync(deFrame* local) = 0;

        virtual deInt isRoot() { return (getDParent() == NULL); }

        virtual deInt isParentRoot() { return (isRoot() || getDParent()->isRoot()); }

        virtual taoJoint* getJointList() = 0;

        virtual taoABNode* getABNode() { return _abNode; }
        virtual void setABNode(taoABNode* node) { _abNode = node; }


        virtual deInt getPropagate() { return _propagate; }
        virtual void setPropagate(deInt p) { _propagate = p; } // YYY

        virtual deVector6* velocity() = 0;
        virtual deVector6* acceleration() = 0;

        virtual deFrame* frameHome() = 0;
        virtual deFrame* frameLocal() = 0;
        //virtual deFrame* frameGlobal() = 0;
        virtual deFloat* mass() = 0;
        virtual deVector3* center() = 0;
        virtual deMatrix3* inertia() = 0;
        virtual deVector6* force() = 0;
        virtual void zeroForce() = 0;
        virtual void addForce(const deVector6* f) = 0;

        virtual void updateFrame() = 0;
        virtual void integrate(deFloat dt) = 0;

        virtual taoDNode* getDParent() = 0;
        virtual void setDChild(taoDNode* n) = 0;
        virtual taoDNode* getDChild() = 0;
        virtual taoDNode* getDSibling() = 0;

private:
        taoABNode* _abNode;
        deInt _propagate;
};

#endif // _taoDNode_h

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