taoWorld.h

/* Copyright (c) 2005 Arachi, Inc. and Stanford University. All rights reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject
 * to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included
 * in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
 * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
 * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
 * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
 * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

#ifndef _taoWorld_h
#define _taoWorld_h

#include "taoTypes.h"
#include <tao/matrix/TaoDeMath.h>

class taoDNode;
class taoNode;
class taoNodeRoot;

class taoWorld
{
public:
  taoWorld() : _id(-1), _isFixed(0), root_node_(NULL), _next(NULL) { _gravity.zero(); }
  ~taoWorld();

  void setID(deInt i) { _id = i; }
  const deInt getID() const { return _id; }

  void setIsFixed(int f) { _isFixed = f; }
  deInt getIsFixed() { return _isFixed; }

  deVector3* gravity() { return &_gravity; }

  void setNext(taoWorld* g) { _next = g; }
  taoWorld* getNext() { return _next; }

  taoNodeRoot* getRootList() { return root_node_; }
  void addRoot(taoNodeRoot* r, const deInt id);
  taoNodeRoot* removeRoot(const deInt id);
  taoNodeRoot* findRoot(const deInt id);

  void update(const deFloat time, const deFloat dt, const deInt n);
  void simulate(const deFloat dt);
  void updateTransformation();

  taoNodeRoot* unlinkFixed(taoNodeRoot* root, taoNode* node);
  taoNodeRoot* unlinkFree(taoNodeRoot* root, taoNode* node, deFloat inertia, deFloat damping);

  void sync(taoNodeRoot* root, deFloat time);

private:
  deInt _id;
  deInt _isFixed;
  deVector3 _gravity;
  taoNodeRoot* root_node_;

  taoWorld* _next;
};

#endif // _taoWorld_h