VsJoint.h

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

#if !defined(AFX_VSJOINT_H__93EDBBFE_2FA0_467C_970F_1775454FE94E__INCLUDED_)
#define AFX_VSJOINT_H__93EDBBFE_2FA0_467C_970F_1775454FE94E__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif 

namespace VortexAnimatSim
{
        namespace Environment
        {
                class VsRigidBody;

                class VORTEX_PORT VsJoint : public VsBody
                {
                protected:
                        Vx::VxConstraint *m_vxJoint;
                        Vx::VxConstraint::CoordinateID m_iCoordID;

                        //This is the offset from the child to the parent. We must add the osg graphics to the parent osg node
                        //because if we do not then the joint will move when the child moves, and that is not correct. However, 
                        //the joint is really attached relative to the child. So I am adding this extra matrix transform that is
                        //the same as the child body to make up for the fact that we have to attach to the parent osg node.
                        osg::Matrix m_osgChildOffsetMatrix;
                        osg::ref_ptr< osg::MatrixTransform> m_osgChildOffsetMT;

#pragma region DefaultBallGraphicsItems

                        //Graphics objects for the default joint drawing code
                        osg::ref_ptr<osg::Geometry> m_osgDefaultBall;

                        osg::ref_ptr<osg::MatrixTransform> m_osgDefaultBallMT;

                        osg::ref_ptr<osg::Material> m_osgDefaultBallMat;

                        osg::ref_ptr<osg::StateSet> m_osgDefaultBallSS;

                        osg::ref_ptr<osg::MatrixTransform> m_osgJointMT;

#pragma endregion

                        Joint *m_lpThisJoint;
                        VsRigidBody *m_lpVsParent;
                        VsRigidBody *m_lpVsChild;

                        virtual void SetThisPointers();
                        void UpdatePosition();

            virtual void ResetDraggerOnResize();
            virtual void DeleteJointGraphics();
            virtual void CreateJointGraphics();
                        virtual void SetupGraphics();
            virtual void DeleteGraphics();
                        virtual void SetupPhysics();
                        virtual VxVector3 NormalizeAxis(CStdFPoint vLocalRot);
                        virtual void UpdatePositionAndRotationFromMatrix();

                        virtual void LocalMatrix(osg::Matrix osgLocalMT);
                        virtual void ChildOffsetMatrix(osg::Matrix osgMT);
                        virtual float GetCurrentVxJointPos();

                public:
                        VsJoint();
                        virtual ~VsJoint();

                        virtual osg::Group *ParentOSG();
                        virtual osg::Group *ChildOSG();

                        virtual void SetAlpha();

                        virtual void Initialize();
                        virtual void SetBody();
                        virtual void Physics_ResetSimulation();
                        virtual void Physics_CollectData();
                        virtual bool Physics_SetData(const std::string &strDataType, const std::string &strValue);
                        virtual void Physics_QueryProperties(CStdPtrArray<TypeProperty> &aryProperties);
                        virtual void Physics_Resize();

                        virtual Vx::VxConstraint* Constraint() {return m_vxJoint;};
                        virtual Vx::VxConstraint::CoordinateID CoordinateID() {return m_iCoordID;};

                        //Methods not used by joints.
                        virtual void Physics_SetParent(MovableItem *lpParent);
                        virtual void Physics_SetChild(MovableItem *lpChild);
                        virtual void Physics_UpdateMatrix();
                        virtual void Physics_PositionChanged();
                        virtual void Physics_RotationChanged();
                        virtual void BuildLocalMatrix();
                        virtual void BuildLocalMatrix(CStdFPoint localPos, CStdFPoint localRot, std::string strName);
                        virtual void Physics_EnableCollision(RigidBody *lpBody) {};
                        virtual void Physics_DisableCollision(RigidBody *lpBody) {};
                        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) {CStdFPoint v; return v;};
                        virtual float Physics_GetMass() {return 0;};
            virtual float Physics_GetDensity() {return 0;};
                        virtual bool Physics_CalculateLocalPosForWorldPos(float fltWorldX, float fltWorldY, float fltWorldZ, CStdFPoint &vLocalPos);

                };

        }                       // Environment
}                               //VortexAnimatSim

#endif // !defined(AFX_VSJOINT_H__93EDBBFE_2FA0_467C_970F_1775454FE94E__INCLUDED_)