FCDocument/FCDPhysicsRigidConstraint.h

/*
    Copyright (C) 2005-2006 Feeling Software Inc.
    MIT License: http://www.opensource.org/licenses/mit-license.php
*/

#ifndef _FCD_PHYSICS_RIGID_CONSTRAINT_H_
#define _FCD_PHYSICS_RIGID_CONSTRAINT_H_

#include "FCDocument/FCDEntity.h"
#include "FCDocument/FCDEntityInstance.h"
#include "FUtils/FUDaeEnum.h"

class FCDocument;
class FCDTransform;
class FCDPhysicsModel;
class FCDPhysicsRigidBody;
typedef vector<FCDTransform*> FCDTransformList;

class FCOLLADA_EXPORT FCDPhysicsRigidConstraint : public FCDEntity
{
private:
    DeclareObjectType;

    string sid;
    bool enabled;
    bool interpenetrate;
    FCDPhysicsRigidBody* referenceRigidBody;
    FCDPhysicsRigidBody* targetRigidBody;
    FMVector3 limitsLinearMin;
    FMVector3 limitsLinearMax;
    FMVector3 limitsSCTMin;
    FMVector3 limitsSCTMax;

    FCDPhysicsModel* parent;

    float springLinearStiffness;
    float springLinearDamping;
    float springLinearTargetValue;

    float springAngularStiffness;
    float springAngularDamping;
    float springAngularTargetValue;

    FCDTransformList transformsRef;
    FCDTransformList transformsTar;

public:
    FCDPhysicsRigidConstraint(FCDocument* document, FCDPhysicsModel* _parent);
    virtual ~FCDPhysicsRigidConstraint();

    string GetSid() const { return sid; }
    // Returns the entity type
    virtual Type GetType() const { return PHYSICS_RIGID_CONSTRAINT; }

    const bool& GetEnabled() const { return enabled;}
    const bool& GetInterpenetrate() const { return interpenetrate;}

    FCDPhysicsRigidBody* GetReferenceRigidBody() const { return referenceRigidBody;}
    FCDPhysicsRigidBody* GetTargetRigidBody() const { return targetRigidBody;}

    const FCDTransformList& GetTransformsRef() const { return transformsRef; }
    const FCDTransformList& GetTransformsTar() const { return transformsTar; }

    FMVector3 GetLimitsLinearMin() const { return limitsLinearMin;}
    FMVector3 GetLimitsLinearMax() const { return limitsLinearMax;}
    FMVector3 GetLimitsSCTMin() const { return limitsSCTMin;}
    FMVector3 GetLimitsSCTMax() const { return limitsSCTMax;}

    float GetSpringLinearStiffness() const { return springLinearStiffness;}
    float GetSpringLinearDamping() const { return springLinearDamping;}
    float GetSpringLinearTargetValue() const { return springLinearTargetValue;}
    float GetSpringAngularStiffness() const { return springAngularStiffness;}
    float GetSpringAngularDamping() const { return springAngularDamping;}
    float GetSpringAngularTargetValue() const { return springAngularTargetValue;}

    // Create a copy of this physicsmodel, with the vertices overwritten
    FCDPhysicsRigidConstraint* Clone();

    // Read in the <physics_model> node of the COLLADA document
    virtual FUStatus LoadFromXML(xmlNode* node);

    // Write out the <physics_model> node to the COLLADA xml tree
    virtual xmlNode* WriteToXML(xmlNode* parentNode) const;
};

#endif // _FCD_PHYSICS_RIGID_CONSTRAINT_H_

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