dynamics2d_multi_body_object_model.h

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#ifndef DYNAMICS2D_MULTI_BODY_OBJECT_MODEL_H
#define DYNAMICS2D_MULTI_BODY_OBJECT_MODEL_H
 
namespace argos {
   class CDynamics2DMultiBodyObjectModel;
}
 
#include <argos3/plugins/simulator/physics_engines/dynamics2d/dynamics2d_model.h>
#include <argos3/plugins/simulator/physics_engines/dynamics2d/chipmunk-physics/include/chipmunk.h>
 
namespace argos {

   class CDynamics2DMultiBodyObjectModel : public CDynamics2DModel {
 
   public:
 
      struct SBody {
         cpBody* Body;
         cpVect  OffsetPos;
         cpFloat OffsetOrient;
         Real    Height;
         SBody(cpBody* pt_body,
               const cpVect& t_offset_pos,
               cpFloat t_offset_orient,
               Real f_height);
      };
 
   public:

      CDynamics2DMultiBodyObjectModel(CDynamics2DEngine& c_engine,
                                      CComposableEntity& c_entity);

      virtual ~CDynamics2DMultiBodyObjectModel();

      inline CComposableEntity& GetComposableEntity() {
         return m_cEntity;
      }

      inline const CComposableEntity& GetComposableEntity() const {
         return m_cEntity;
      }

      inline SBody& GetBody(size_t i) {
         return m_vecBodies[i];
      }
      
      inline const SBody& GetBody(size_t i) const {
         return m_vecBodies[i];
      }
      
      virtual void Reset();
 
      virtual void MoveTo(const CVector3& c_position,
                          const CQuaternion& c_orientation);
 
      virtual void CalculateBoundingBox();
 
      virtual void UpdateFromEntityStatus()  = 0;
 
      virtual bool IsCollidingWithSomething() const;

      virtual void AddBody(cpBody* pt_body,
                           const cpVect& t_offset_pos,
                           cpFloat t_offset_orient,
                           Real f_height);
 
   private:
 
      CComposableEntity& m_cEntity;
      std::vector<SBody> m_vecBodies;
   };
 
}
 
#endif