BlRigidBody.h

// BlRigidBody.h: interface for the BlRigidBody class.
//

#pragma once

#include "BlMaterialType.h"

namespace BulletAnimatSim
{
        namespace Environment
        {
                

            class BULLET_PORT BlContactPoint
            {
            public:
                btManifoldPoint *m_lpCP;
                BlRigidBody *m_lpContacted;
                bool m_bIsBodyA;

                BlContactPoint(btManifoldPoint *lpCP, BlRigidBody *lpContacted, bool bIsBodyA)
                {
                    m_lpCP = lpCP;
                    m_lpContacted = lpContacted;
                    m_bIsBodyA = bIsBodyA;
                }

                virtual ~BlContactPoint() {};

            };

            class BULLET_PORT BlBulletData
            {
            public:
                BlRigidBody *m_lpBody;
                bool m_bExclusionProcessing;

                BlBulletData(BlRigidBody *lpBody, bool bExclusionProcessing)
                {
                    m_lpBody = lpBody;
                    m_bExclusionProcessing = bExclusionProcessing;
                }

                virtual ~BlBulletData() {};

            };

                class BULLET_PORT BlRigidBody : public OsgRigidBody
                {
                protected:
            btCollisionShape *m_btCollisionShape;
            btCollisionObject *m_btCollisionObject;
            btCompoundShape *m_btCompoundShape;
            CStdPtrArray<btCollisionShape> m_aryCompoundChildShapes;

                        btAnimatGeneric6DofConstraint *m_btStickyLock;
                        btAnimatGeneric6DofConstraint *m_btStickyLock2;

            btRigidBody *m_btPart;
            osgbDynamics::MotionState *m_osgbMotion;
            BroadphaseNativeTypes m_eBodyType;

            float m_fltStaticMasses;

                        CStdFPoint m_vArea;

            CStdFPoint m_vRotatedArea;

            float m_fltBuoyancy;

            float m_fltReportBuoyancy;
            
                        float m_vLinearDragForce[3];

                        float m_vAngularDragTorque[3];

            //This is the data that is provided to the bullet body part user pointer.
            //We can access this when all we have is a bullet pointer to a part.
            BlBulletData *m_lpBulletData;

            BlSimulator *m_lpVsSim;

                        BlMaterialType *m_lpMaterial;

                        virtual void ProcessContacts();

            virtual void DeleteDynamicPart();
            virtual void DeleteSensorPart();
            virtual void DeleteCollisionGeometry();
            virtual void DeletePhysics(bool bIncludeChildren);

                        virtual void CreateSensorPart();
            virtual void CreateStaticChildren(const CStdFPoint &vCom);
                        virtual void CreateDynamicPart();
                        virtual void CreateStickyLock();
            virtual void SetupOffsetCOM(const CStdFPoint &vCom);
                        virtual btAnimatGeneric6DofConstraint *AddDynamicJoint(BlRigidBody *lpParent, BlRigidBody *lpChild);

            virtual void AddStaticGeometry(BlRigidBody *lpChild, btCompoundShape *btCompound, const CStdFPoint &vCom);
            virtual void RemoveStaticGeometry(BlRigidBody *lpChild, btCompoundShape *btCompound);

                        CStdFPoint Physics_GetCurrentPosition();
                        virtual void GetBaseValues();

                        virtual void ResetStaticCollisionGeom();
                        virtual void ResetSensorCollisionGeom();
                        virtual void ResetDynamicCollisionGeom();

            virtual void DeleteChildPhysics();
            virtual void DeleteAttachedJointPhysics();
            virtual void RecreateAttachedJointPhysics();
                        virtual void ResizePhysicsGeometry();

            virtual void CalculateVolumeAndAreas() {};
            virtual void CalculateRotatedAreas();

        public:
                        BlRigidBody();
                        virtual ~BlRigidBody();

            CStdPtrArray<BlContactPoint> m_aryContactPoints;

            btCompoundShape *CompoundShape() {return m_btCompoundShape;};
            btCollisionShape *CollisionShape() {return m_btCollisionShape;};
            btRigidBody *Part() {return m_btPart;};
            osgbDynamics::MotionState *MotionState() {return m_osgbMotion;};
                        BlMaterialType *Material() {return m_lpMaterial;};

                        virtual BlSimulator *GetBlSimulator();
                        
            virtual bool NeedCollision(BlRigidBody *lpTest);
                        virtual void SetSurfaceContactCount();

            virtual bool Physics_IsDefined();
            virtual bool Physics_IsGeometryDefined();
                        virtual void Physics_ResetSimulation();
                        virtual void Physics_EnableCollision(RigidBody *lpBody);
                        virtual void Physics_DisableCollision(RigidBody *lpBody);
                        virtual void Physics_CollectData();
            virtual void Physics_CollectExtraData();
                        virtual void Physics_SetFreeze(bool bVal);
                        virtual void Physics_SetMass(float fltVal);
                        virtual void Physics_SetMaterialID(std::string strID);
                        virtual void Physics_SetVelocityDamping(float fltLinear, float fltAngular);
                        virtual void Physics_SetCenterOfMass(float fltTx, float fltTy, float fltTz);
                        virtual void Physics_UpdateNode();
                        virtual void Physics_FluidDataChanged();
            virtual void Physics_WakeDynamics();
            virtual void Physics_ContactSensorAdded(ContactSensor *lpSensor);
            virtual void Physics_ContactSensorRemoved();
            virtual void Physics_ChildBodyAdded(RigidBody *lpChild);
            virtual void Physics_ChildBodyRemoved(bool bHasStaticJoint);
                        virtual void Physics_DeleteStickyLock();

            virtual void Physics_AddBodyForceAtLocalPos(float fltPx, float fltPy, float fltPz, float fltFx, float fltFy, float fltFz, bool bScaleUnits);
            virtual void Physics_AddBodyForceAtWorldPos(float fltPx, float fltPy, float fltPz, float fltFx, float fltFy, float fltFz, bool bScaleUnits);
                        virtual void Physics_AddBodyTorque(float fltTx, float fltTy, float fltTz, bool bScaleUnits);
                        virtual CStdFPoint Physics_GetVelocityAtPoint(float x, float y, float z);
                        virtual float Physics_GetMass();
                        virtual float Physics_GetDensity();
                        virtual bool Physics_HasCollisionGeometry();
            virtual void Physics_StepHydrodynamicSimulation();
                        virtual float *Physics_GetDataPointer(const std::string &strDataType);

            virtual osg::Matrix GetPhysicsWorldMatrix();

                        virtual void MaterialTypeModified();

            friend class BlJoint;
                };

        }                       // Environment
}                               //BulletAnimatSim