contrib/DotNetManaged/Body.h

   1 #pragma once
   2
   3 #include "World.h"
   4 #include "CommonMgd.h"
   5
   6 namespace ODEManaged
   7 {
   8         __gc public class Body
   9         {
  10                 public:
  11
  12                         //Constructors and Destructors
  13
  14                         Body(void);
  15                         Body(World &world);
  16
  17                         ~Body(void);
  18
  19
  20                         //Public Methods
  21
  22                         dBodyID Id();
  23                         void    SetData                         (void *data);
  24                         void    *GetData                        (void);
  25
  26                         //POSITION
  27                         void SetPosition(double x, double y, double z);
  28                         Vector3 GetPosition(void);
  29                         void GetPosition(double  position __gc[]);
  30
  31                         //ROTATION
  32                         void SetRotationIdentity(void);
  33                         void SetRotation(Matrix3 rotation);
  34                         Matrix3 GetRotation(void);
  35
  36                         //MASS
  37                         void SetMass(double mass, Vector3 centerOfGravity, Matrix3 inertia);
  38                         void SetMassSphere(double density, double radius);
  39                         void SetMassBox(double density, double sideX, double sideY, double sideZ);
  40                         void SetMassCappedCylinder(double density, int axis, double cylinderRadius, double cylinderLength);
  41
  42                         //FORCE AND TORQUE
  43                         void AddForce(double fX, double fY, double fZ);
  44                         void AddRelForce(double fX, double fY, double fZ);
  45                         void AddForceAtPos(double fX, double fY, double fZ,double pX, double pY, double pZ);
  46                         void AddRelForceAtPos(double fX, double fY, double fZ,double pX, double pY, double pZ);
  47                         void AddRelForceAtRelPos(double fX, double fY, double fZ,double pX, double pY, double pZ);
  48                         void ApplyLinearVelocityDrag(double dragCoef);
  49                         void ApplyAngularVelocityDrag(double dragCoef);
  50
  51
  52                         void AddTorque(double fX, double fY, double fZ);
  53                         void AddRelTorque(double fX, double fY, double fZ);
  54
  55                         //LINEAR VELOCITY
  56                         void SetLinearVelocity (double x, double y, double z);
  57                         Vector3 GetLinearVelocity(void);
  58
  59                         //ANGULAR VELOCITY
  60                         void SetAngularVelocity (double x, double y, double z);
  61                         Vector3 GetAngularVelocity(void);
  62
  63                         //POINT
  64                         Vector3 GetRelPointPos(double pX, double pY, double pZ);
  65                         Vector3 GetRelPointVel(double pX, double pY, double pZ);
  66
  67                         //CONNECTED TO
  68                         int ConnectedTo (const Body &b);
  69
  70                 private:
  71
  72                         dBodyID _id;
  73
  74         };
  75 }
  76