TAPsRigidBodyBase.hpp

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/******************************************************************************
TAPsRigidBodyBase.hpp
******************************************************************************/
/******************************************************************************
SUKITTI PUNAK   (03/25/2010)
UPDATE          (09/25/2010)
******************************************************************************/
#ifndef TAPs_RIGID_BODY_BASE_HPP
#define TAPs_RIGID_BODY_BASE_HPP

#include "TAPsShape.hpp"
#include "../../Core/TAPsQuaternion.hpp"
#include "../../CD/TAPsBVSupportFns.hpp"

BEGIN_NAMESPACE_TAPs
//=============================================================================
template <typename T>
class RigidBodyBase : public /*virtual*/ Shape<T> {
//=============================================================================
public:
    // Member Functions -------------------------------------------------------
    friend std::ostream & operator<< ( std::ostream &output, RigidBodyBase<T> const &obj )
    {
        output << obj.StrInfo();
        return output;
    }
    //-------------------------------------------------------------------------
    RigidBodyBase ();

    RigidBodyBase ( Vector3<T> const & Origin, Quaternion<T> const & Orientation );

    //RigidBodyBase ( RigidBodyBase<T> const &orig );

    virtual ~RigidBodyBase ();

    //-------------------------------------------------------------------------
    virtual std::string StrInfo () const;
    //-------------------------------------------------------------------------
    //inline RigidBodyBase<T> & operator= ( RigidBodyBase<T> const &orig );

    Vector3<T> const & GetOriginPoint () const  { return m_OriginPt; }
    virtual void SetOriginPoint ( Vector3<T> const & originPt ) { m_OriginPt = originPt; }

    Quaternion<T> const & GetOrientation () const   { return m_Orientation; }
    virtual void SetOrientation ( Quaternion<T> const & orientation )   { m_Orientation = orientation; }

    virtual Vector3<T> const & GetOrientationCenter () const    { return m_OrientationCenter; }
    virtual void SetOrientationCenter ( Vector3<T> const & orientationCenter )  { m_OrientationCenter = orientationCenter; }

    virtual BoundingVolume<T> const & RefToBV () const  { return *m_pBV; }
    virtual BoundingVolume<T>       & RefToBV ()        { return *m_pBV; }

    virtual void SetBVOfType ( Enum::CD type );

    inline virtual Matrix4x4<T> CalMatrixTransform () const;

    inline virtual Matrix4x4<T> CalInvMatrixTransform () const;

    // Data Members -----------------------------------------------------------
//=============================================================================
protected:
    // Member Functions -------------------------------------------------------
    // Data Members -----------------------------------------------------------
    Vector3<T>      m_OriginPt;             
    Vector3<T>      m_OrientationCenter;    
    Quaternion<T>   m_Orientation;          

    BoundingVolume<T> * m_pBV;  

//=============================================================================
private:
    // Member Functions -------------------------------------------------------
    // Data Members -----------------------------------------------------------
//=============================================================================

#if defined(__gl_h_) || defined(__GL_H__)
public:
    virtual void Draw () const;

    virtual void DrawOrigin () const;

    virtual void DrawOrientation () const;

    virtual void DrawBV () const;

#endif

//=============================================================================
}; // END CLASS RigidBodyBase
//=============================================================================
//-----------------------------------------------------------------------------
typedef RigidBodyBase<int>    RigidBodyBasei;
typedef RigidBodyBase<float>  RigidBodyBasef;
typedef RigidBodyBase<double> RigidBodyBased;
//=============================================================================
END_NAMESPACE_TAPs
//-----------------------------------------------------------------------------
#include "TAPsRigidBodyBase.cpp"

// Include definition if TAPs_USE_EXPORT is not defined
//#if !defined( TAPs_USE_EXPORT )
//  #include "TAPsRigidBodyBase.cpp"
//#endif
//-----------------------------------------------------------------------------
#endif
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