77 lines
1.9 KiB
C
77 lines
1.9 KiB
C
|
#pragma once
|
||
|
|
|
||
|
|
#include "World.h"
|
||
|
|
#include "CommonMgd.h"
|
||
|
|
|
||
|
|
namespace ODEManaged
|
||
|
|
{
|
||
|
|
__gc public class Body
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
|
||
|
|
//Constructors and Destructors
|
||
|
|
|
||
|
|
Body(void);
|
||
|
|
Body(World &world);
|
||
|
|
|
||
|
|
~Body(void);
|
||
|
|
|
||
|
|
|
||
|
|
//Public Methods
|
||
|
|
|
||
|
|
dBodyID Id();
|
||
|
|
void SetData (void *data);
|
||
|
|
void *GetData (void);
|
||
|
|
|
||
|
|
//POSITION
|
||
|
|
void SetPosition(double x, double y, double z);
|
||
|
|
Vector3 GetPosition(void);
|
||
|
|
void GetPosition(double position __gc[]);
|
||
|
|
|
||
|
|
//ROTATION
|
||
|
|
void SetRotationIdentity(void);
|
||
|
|
void SetRotation(Matrix3 rotation);
|
||
|
|
Matrix3 GetRotation(void);
|
||
|
|
|
||
|
|
//MASS
|
||
|
|
void SetMass(double mass, Vector3 centerOfGravity, Matrix3 inertia);
|
||
|
|
void SetMassSphere(double density, double radius);
|
||
|
|
void SetMassBox(double density, double sideX, double sideY, double sideZ);
|
||
|
|
void SetMassCappedCylinder(double density, int axis, double cylinderRadius, double cylinderLength);
|
||
|
|
|
||
|
|
//FORCE AND TORQUE
|
||
|
|
void AddForce(double fX, double fY, double fZ);
|
||
|
|
void AddRelForce(double fX, double fY, double fZ);
|
||
|
|
void AddForceAtPos(double fX, double fY, double fZ,double pX, double pY, double pZ);
|
||
|
|
void AddRelForceAtPos(double fX, double fY, double fZ,double pX, double pY, double pZ);
|
||
|
|
void AddRelForceAtRelPos(double fX, double fY, double fZ,double pX, double pY, double pZ);
|
||
|
|
void ApplyLinearVelocityDrag(double dragCoef);
|
||
|
|
void ApplyAngularVelocityDrag(double dragCoef);
|
||
|
|
|
||
|
|
|
||
|
|
void AddTorque(double fX, double fY, double fZ);
|
||
|
|
void AddRelTorque(double fX, double fY, double fZ);
|
||
|
|
|
||
|
|
//LINEAR VELOCITY
|
||
|
|
void SetLinearVelocity (double x, double y, double z);
|
||
|
|
Vector3 GetLinearVelocity(void);
|
||
|
|
|
||
|
|
//ANGULAR VELOCITY
|
||
|
|
void SetAngularVelocity (double x, double y, double z);
|
||
|
|
Vector3 GetAngularVelocity(void);
|
||
|
|
|
||
|
|
//POINT
|
||
|
|
Vector3 GetRelPointPos(double pX, double pY, double pZ);
|
||
|
|
Vector3 GetRelPointVel(double pX, double pY, double pZ);
|
||
|
|
|
||
|
|
//CONNECTED TO
|
||
|
|
int ConnectedTo (const Body &b);
|
||
|
|
|
||
|
|
private:
|
||
|
|
|
||
|
|
dBodyID _id;
|
||
|
|
|
||
|
|
};
|
||
|
|
}
|
||
|
|
|