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rdGBody.h

// rdGBody.h
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Copyright 2002 Realistic Dynamics, Inc.
// All rights reserved.
//
// Please do not read, copy, distribute, or use without permission.
// Contact: Frank C. Anderson, fca@RealisticDynamics.com
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#ifndef __rdGBody_h__
#define __rdGBody_h__


// INCLUDES
#include "rdTools.h"
#include "rdObject.h"
#include "rdVertices.h"
#include "rdEdges.h"
#include "rdTriangles.h"


// DECLARATIONS
class rdGBodies;


//=============================================================================
//=============================================================================
class RDTOOLS_API rdGBody : public rdObject
{
//=============================================================================
// DATA
//=============================================================================
private:
   double _origin[3];
   double _x[3];
   double _y[3];
   double _z[3];
   double _px[3];
   double _py[3];
   double _pz[3];
   rdVertices *_vertices;
   rdEdges *_edges;
   rdTriangles *_triangles;
   rdGBodies *_bodies;
   double _lower[3];
   double _upper[3];
   // INERTIAL PROPERTIES
   double _density;
   double _mass;
   double _com[3];
   double _inertia[3][3];

//=============================================================================
// METHODS
//=============================================================================
public:
   //--------------------------------------------------------------------------
   // CONSTRUCTION
   //--------------------------------------------------------------------------
   rdGBody();
   rdGBody(IDOM_Element *aElement);
   virtual ~rdGBody();
private:
   void setNull();

   //--------------------------------------------------------------------------
   // GET AND SET
   //--------------------------------------------------------------------------
public:
   void setOrigin(double aX,double aY,double aZ);
   void getOrigin(double rP[3]) const;
   void setPX(double aX,double aY,double aZ);
   void setPY(double aX,double aY,double aZ);
   void setPZ(double aX,double aY,double aZ);
   void setDensity(double aDensity);
   double getDensity() const;
   void setMass(double aMass);
   double getMass() const;
   void setCenterOfMass(const double aCOM[3]);
   void getCenterOfMass(double rCOM[3]) const;
   void setInertiaTensor(const double aI[6]);
   void getInertiaTensor(double rI[9]) const;

   //--------------------------------------------------------------------------
   // OPERATIONS
   //--------------------------------------------------------------------------
   void translate(double aX,double aY,double aZ);
   void rotate(int aXYZ,double aRadians);
   void rotate(int aXYZ,double aRadians,const double aP[3]);

   //--------------------------------------------------------------------------
   // UTILITIES
   //--------------------------------------------------------------------------
   bool isInside(const double aPoint[3]) const;
   void estimateInertialProperties(double aCubeSize=0.0);
   void computeNewFrame();
   void updateEdgeIndices();
   void updateTriangleIndices();
   void computeUpperBounds();
   void computeLowerBounds();
   void computeBounds();
   void printBoneFile(const char *aFileName=NULL);

   //--------------------------------------------------------------------------
   // XML
   //--------------------------------------------------------------------------
   virtual void updateObject(bool aDeep=true);
   virtual void updateNode(bool aDeep=true);
   void updateData();

//=============================================================================
}; // END class rdGBody
//=============================================================================
//=============================================================================

#endif  // __rdGBody_h__

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