SingleBody.h

/****************************************************************************
 * Copyright 2010 Evan Drumwright
 * This library is distributed under the terms of the Apache V2.0 
 * License (obtainable from http://www.apache.org/licenses/LICENSE-2.0).
 ****************************************************************************/

#ifndef SINGLE_BODY 
#error This class is not to be included by the user directly. Use SingleBodyd.h or SingleBodyf.h instead.
#endif

class ARTICULATED_BODY;

class SINGLE_BODY : public virtual DYNAMIC_BODY 
{
  public:
    virtual ~SINGLE_BODY() {}
    virtual boost::shared_ptr<DYNAMIC_BODY> get_super_body() const;

    virtual boost::shared_ptr<const POSE3> get_computation_frame() const = 0;

    virtual REAL get_mass() const = 0;

    virtual boost::shared_ptr<const POSE3> get_pose() const = 0;

    virtual const SACCEL& get_accel() = 0;

    virtual const SVELOCITY& get_velocity() = 0;

    virtual void apply_impulse(const SMOMENTUM& w) = 0;

    virtual REAL calc_mass() const = 0;

    virtual boost::shared_ptr<ARTICULATED_BODY> get_articulated_body() const = 0;

    virtual bool is_enabled() const = 0;

    virtual VECTOR3 calc_point_vel(const VECTOR3& point) const = 0;

    REAL calc_point_vel(const VECTOR3& point, const VECTOR3& dir);

}; // end class