lugre_ode.h

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#ifndef _LUGRE_ODE_H_
#define _LUGRE_ODE_H_

#include "lugre_prefix.h"
#include "lugre_listener.h"

#ifdef ENABLE_ODE

void    RegisterLua_Ode_GlobalFunctions (lua_State* L);
void    OdeLuaRegister(lua_State* L);

#include <list>
#include <boost/timer.hpp>

namespace ODE {
#include <ode/ode.h>
}

namespace Lugre {

class cOdeObject;
class cOdeWorld;

class cOdeObject : public cSmartPointable {
    friend class cOdeWorld;
public:
    cOdeObject(cOdeWorld* world, const ODE::dReal x, const ODE::dReal y, const ODE::dReal z);

    void DeleteShape();
    void SetShapeSphere(const ODE::dReal radius, const ODE::dReal mass);
    void SetShapeBox(const ODE::dReal mass, const ODE::dReal lx, const ODE::dReal ly, const ODE::dReal lz);
    void SetPosition(const ODE::dReal x, const ODE::dReal y, const ODE::dReal z);
    void GetPosition(ODE::dReal &x, ODE::dReal &y, ODE::dReal &z);
    void SetRotation(const ODE::dReal x, const ODE::dReal y, const ODE::dReal z, const ODE::dReal w);
    void GetRotation(ODE::dReal &x, ODE::dReal &y, ODE::dReal &z, ODE::dReal &w);
    
    void SetLinearVelocity(const ODE::dReal x, const ODE::dReal y, const ODE::dReal z);
    void GetLinearVelocity(ODE::dReal &x, ODE::dReal &y, ODE::dReal &z);
    void SetAngularVelocity(const ODE::dReal x, const ODE::dReal y, const ODE::dReal z);
    void GetAngularVelocity(ODE::dReal &x, ODE::dReal &y, ODE::dReal &z);

    void SetTorque(const ODE::dReal x, const ODE::dReal y, const ODE::dReal z);
    void GetTorque(ODE::dReal &x, ODE::dReal &y, ODE::dReal &z);

    void SetForce(const ODE::dReal x, const ODE::dReal y, const ODE::dReal z);
    void GetForce(ODE::dReal &x, ODE::dReal &y, ODE::dReal &z);

    void GetAABB(ODE::dReal* aabb);
    
    void AddForce(const ODE::dReal fx, const ODE::dReal fy, const ODE::dReal fz);
    void AddRelForce(const ODE::dReal fx, const ODE::dReal fy, const ODE::dReal fz);
    void AddForceAtPos(
        const ODE::dReal fx, const ODE::dReal fy, const ODE::dReal fz,
        const ODE::dReal x, const ODE::dReal y, const ODE::dReal z);
    void AddForceAtRelPos(
        const ODE::dReal fx, const ODE::dReal fy, const ODE::dReal fz,
        const ODE::dReal x, const ODE::dReal y, const ODE::dReal z);
    void AddRelForceAtPos(
        const ODE::dReal fx, const ODE::dReal fy, const ODE::dReal fz,
        const ODE::dReal x, const ODE::dReal y, const ODE::dReal z);
    void AddRelForceAtRelPos(
        const ODE::dReal fx, const ODE::dReal fy, const ODE::dReal fz,
        const ODE::dReal x, const ODE::dReal y, const ODE::dReal z);

    void SetEnabled(const bool enabled);
    bool IsEnabled();

    void SetAutoDisableFlag(bool enabled);
    bool IsAutoDisableFlagEnabeled();

    void GetRelPosVel(const ODE::dReal lx, const ODE::dReal ly, const ODE::dReal lz,
        ODE::dReal &vx, ODE::dReal &vy, ODE::dReal &vz);

    virtual ~cOdeObject();

private:

    ODE::dBodyID    moBody;
    ODE::dGeomID    moGeom;
    ODE::dMass      mMass;
    cOdeWorld*  mpWorld;
};

class cOdeWorld : public cSmartPointable {
    friend class cOdeObject;
public:
    cOdeWorld(float secondsByStep);
    ~cOdeWorld();
    
    void Step();
    
    void SetGravity(const ODE::dReal x, const ODE::dReal y, const ODE::dReal z);
    
    void HandleCollisionBetween(ODE::dGeomID o0, ODE::dGeomID o1);
    
    void SetAutoDisableFlag(bool enabled);
    bool IsAutoDisableFlagEnabeled();
    
private:
    void KillDeadObjects();
    
    ODE::dWorldID       moWorld;
    ODE::dSpaceID       moSpace;
    ODE::dJointGroupID  moContactgroup;
    boost::timer        mTimer; 
    float               mfSecondsByStep;
    std::list<cOdeObject *> mlObject;
    std::list<cOdeObject *> mlDeadObject;
};

}

#endif

#endif