pointmass3d_model.h

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#ifndef POINTMASS3D_MODEL_H
#define POINTMASS3D_MODEL_H
 
namespace argos {
   class CPointMass3DEngine;
}
 
#include <argos3/core/simulator/physics_engine/physics_model.h>
#include <argos3/plugins/simulator/physics_engines/pointmass3d/pointmass3d_engine.h>
#include <argos3/core/utility/math/vector3.h>
#include <argos3/core/utility/math/quaternion.h>
 
namespace argos {
 
   class CPointMass3DModel : public CPhysicsModel {
 
   public:
 
      typedef std::map<std::string, CPointMass3DModel*> TMap;
 
   public:
 
      CPointMass3DModel(CPointMass3DEngine& c_engine,
                        CEmbodiedEntity& c_entity);
 
      virtual ~CPointMass3DModel() {}
 
      virtual void MoveTo(const CVector3& c_position,
                          const CQuaternion& c_orientation);
 
      virtual void Reset();
 
      virtual void Step() = 0;
      virtual void UpdateFromEntityStatus() = 0;
 
      virtual bool IsCollidingWithSomething() const;
 
      virtual bool CheckIntersectionWithRay(Real& f_t_on_ray,
                                            const CRay3& c_ray) const = 0;
 
      virtual void UpdateOriginAnchor(SAnchor& s_anchor);
 
      CPointMass3DEngine& GetPM3DEngine() {
         return m_cPM3DEngine;
      }
 
      const CPointMass3DEngine& GetPM3DEngine() const {
         return m_cPM3DEngine;
      }
 
   protected:
 
      CPointMass3DEngine& m_cPM3DEngine;
 
      CVector3 m_cPosition;
 
      CVector3 m_cVelocity;
 
      CVector3 m_cAcceleration;
 
   };
 
}
 
#endif