TAPsRigidBodyDynamics.hpp

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/******************************************************************************
TAPsRigidBodyDynamics.hpp
******************************************************************************/
/******************************************************************************
SUKITTI PUNAK   (03/25/2010)
UPDATE          (10/04/2010)
******************************************************************************/
#ifndef TAPs_RIGID_BODY_DYNAMICS_HPP
#define TAPs_RIGID_BODY_DYNAMICS_HPP

#include "TAPsRigidBodyBase.hpp"
#include "../../Support/TAPsPhysicsSupport.hpp"
#include "../../Support/TAPsInteractionPointGroup.hpp"

#include "../../OpenGLModel/TAPsHalfEdgeModel.hpp"
#include "../../Interface/TAPsInterfaceAdvanceSimulation.hpp"

#include "../../CG/TAPsCGAlgo.hpp"

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

    RigidBodyDynamics ( Vector3<T> const & Centroid, Quaternion<T> const & Orientation );
    
    //RigidBodyDynamics ( RigidBodyDynamics<T> const &orig );
    
    virtual ~RigidBodyDynamics ();

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

    //PhysicsSupport<T> const & RefToPhysicsSupport () const    { return m_PhysicsSupport; }
    //PhysicsSupport<T> &           RefToPhysicsSupport()           { return m_PhysicsSupport; }

    InteractionPointGroup<T> const &    RefToInteractionPointGroup () const { return m_IPGroup; }
    InteractionPointGroup<T> &          RefToInteractionPointGroup ()       { return m_IPGroup; }

    inline std::vector< Vector3<T> > GetAllInteractionPointPositionsInWorldSpace () const;

    //-------------------------------------------------------------------------

    bool CreateInteractionPointGroupBasedOnBVHTree (
        int level = 0   
    );

    //-------------------------------------------------------------------------

    bool CalAndSetVolumeAndCentroid_BasedOnTetrahedra ();

    bool CalAndSetVolumeAndCentroid_BasedOnInteractionPointGroup ();

    void ClearAllForcesAndTorques ();

    //-------------------------------------------------------------------------
    // Override the member functions from PhysicsSupport

    inline virtual Vector3<T> const & GetCenterOfMass () const;
    inline virtual void SetCenterOfMass ( Vector3<T> const & COM );
    inline virtual void SetCenterOfMass ( T x, T y, T z );
    inline virtual void AdjustCenterOfMass ( Vector3<T> const & COM );
    inline virtual void AdjustCenterOfMass ( T x, T y, T z );

    inline virtual void LockPosition ()     { m_bPositionLocked = true; }
    inline virtual void UnlockPosition ()   { m_bPositionLocked = false; }
    inline bool IsPositionLocked () const { return m_bPositionLocked; }

private:    // Get and set functions for center of mass property from PhysicsSupport are not used.
    virtual Vector3<T> const &  GetPhyPropCenterOfMass () const { return mPhyProp_vCenterOfMass; }
    virtual void SetPhyPropCenterOfMass ( Vector3<T> const & COM )  { mPhyProp_vCenterOfMass = COM; }
    virtual void SetPhyPropCenterOfMass ( T x, T y, T z )   { mPhyProp_vCenterOfMass.SetXYZ(x,y,z); }

private:    // orientation property from PhysicsSupport is not used.
    virtual Quaternion<T> const &   GetPhyPropOrientation () const  { return mPhyProp_qOrientation; }
    virtual void SetPhyPropOrientation ( Quaternion<T> const & orientation )    { mPhyProp_qOrientation = orientation; }
    virtual void SetPhyPropOrientation ( T r, T i, T j, T k )   { mPhyProp_qOrientation.SetRIJK(r,i,j,k); }

public:

    //-------------------------------------------------------------------------
    // Override the member functions from AdvanceSimulationInterface

    virtual void AdvanceSimulation ( T timeStep );

    virtual void AdvanceSimulation ( T tCurrent, T tNext );

    virtual void AdvanceSimulation ( Simulation::SimClock<T> & simClock );

    //-------------------------------------------------------------------------
    // Override the member functions from RigidBodyBase

    virtual void SetBVOfType ( Enum::CD type );

    // Data Members -----------------------------------------------------------
//=============================================================================
protected:
    // Member Functions -------------------------------------------------------
    inline void StepSimulation ( T dt );
    // Data Members -----------------------------------------------------------
    //PhysicsSupport<T>         m_PhysicsSupport;   //!< Physics support
    InteractionPointGroup<T>    m_IPGroup;          
    bool                        m_bPositionLocked;  
//=============================================================================
private:
    // Member Functions -------------------------------------------------------
    bool CreateInteractionPointGroupBasedOnBVHTree_Recursive (
        BVHNode<T> ** node,
        int numOfNodes,
        int currentLevel,
        int finalLevel
    );
    // Data Members -----------------------------------------------------------
//=============================================================================


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

    virtual void DrawCenterOfMass () const;

    virtual void DrawInteractionPointGroup () const;

    virtual void DrawForDebugging () const;
    
#endif


//=============================================================================
}; // END CLASS RigidBodyDynamics
//=============================================================================
//-----------------------------------------------------------------------------
typedef RigidBodyDynamics<int>    RigidBodyDynamicsi;
typedef RigidBodyDynamics<float>  RigidBodyDynamicsf;
typedef RigidBodyDynamics<double> RigidBodyDynamicsd;
//=============================================================================
END_NAMESPACE_TAPs
//-----------------------------------------------------------------------------
#include "TAPsRigidBodyDynamics.cpp"

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