PhysicalObject.h

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#ifndef PHYSICALOBJECT_H
#define PHYSICALOBJECT_H

#include "GraphicalObject.h"
#include "ContactInfo.h"
#include "GlobalContactInfo.h"
#include "ContactSolver.h"
#include "ThyrixParameters.h"
#include <string>

class Border;
class Circle;
class CappedRectangle;
class Simulator;
class Integrator;

class PhysicalObject : public GraphicalObject {
public:
   PhysicalObject(std::string label="", int nSensors=0, real saturationForce=0.5,
      Color outlineColor = GUI::colorBlack, Color fillColor = GUI::colorTransparent);
   
   virtual ~PhysicalObject(); 

   virtual void registerPrimitives(Simulator* simulator);

   virtual bool detectContacts(PhysicalObject* object, GlobalContactInfoVector* contacts) = 0;

  virtual bool detectContacts(Border* object, GlobalContactInfoVector* contacts) {
      return detectContacts((PhysicalObject*)object, contacts);
  }
  virtual bool detectContacts(Circle* object, GlobalContactInfoVector* contacts) { 
      return detectContacts((PhysicalObject*)object, contacts);
  }
  virtual bool detectContacts(CappedRectangle* object, GlobalContactInfoVector* contacts) { 
      return detectContacts((PhysicalObject*)object, contacts);
  }

   void setPosition (real x, real y) { r.x=x; r.y=y; }

   void setVelocity (real vx, real vy) { v.x=vx; v.y=vy; }

   void setMass (real m) { this->m=m; }

   virtual void computeMass(real density = ThyrixParameters::defaultDensity) { m=1.0;}

   virtual void computeInertia() { I=1.0; }

   virtual int isCircle() { return 0; }

   inline void normalizeAlpha();

   virtual void integrate(const Integrator &integrator);

   virtual void rollback();

   virtual void computeBox() {}

   virtual void computeDerivativesWithoutContacts(ContactSolver* contactSolver);
   
   virtual void computeDerivatives(GlobalContactInfoVector* globalContacts);

   virtual void setSensors();

   virtual void setSensor(ContactInfo* contact) {}

   virtual void controll() {}

   virtual void detectInternalContacts(GlobalContactInfoVector* globalContacts) {}

   virtual void deleteContacts();

   virtual void resetSensors();

   void addContact(ContactInfo* contact){
      contacts.push_back(contact);
   }

   virtual void fillContactMatrix(ContactSolver* contactSolver, ContactInfo* contact);

   void drawContactForces(GUI* gui);

   virtual bool detectMouseContact(const Vector2& rMouse, Vector2& p, PhysicalObject*& object) { return false; }


   Vector2 r;

   Vector2 rOld;

   Vector2 v;
   
   real m;
 
   real alpha;

   real alphaOld;

   real omega;

   real I;

   Vector2 externalForce;

   real externalTorque;

   PhysicalObject* parent;

   Vector2 relativeR;

   real relativeAlpha;

   Vector2 boxMin;
   
   Vector2 boxMax;

   ContactInfoPVector contacts;

   std::string label;

   real* activations;

   real saturationForce;
   
protected:
   int nSensors;
};

void PhysicalObject::normalizeAlpha() { 
   assert(alpha >-100 && alpha<100);
   while(alpha>2*M_PI) 
        alpha-=2*M_PI;
    while(alpha<0.0)
        alpha+=2*M_PI;
}

typedef std::vector<PhysicalObject*> PhysicalObjectPVector;

#endif //PHYSICALOBJECT_H

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