dynamics2d_single_body_object_model.h

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#ifndef DYNAMICS2D_SINGLE_BODY_OBJECT_MODEL_H
#define DYNAMICS2D_SINGLE_BODY_OBJECT_MODEL_H
 
namespace argos {
   class CDynamics2DSingleBodyObjectModel;
}
 
#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 CDynamics2DSingleBodyObjectModel : public CDynamics2DModel {
 
   public:
 
      CDynamics2DSingleBodyObjectModel(CDynamics2DEngine& c_engine,
                                       CComposableEntity& c_entity);
 
      virtual ~CDynamics2DSingleBodyObjectModel();
 
      inline CComposableEntity& GetComposableEntity() {
         return m_cEntity;
      }
 
      inline const CComposableEntity& GetComposableEntity() const {
         return m_cEntity;
      }
 
      inline cpBody* GetBody() {
         return m_ptBody;
      }
 
      inline const cpBody* GetBody() const {
         return m_ptBody;
      }
 
      virtual void Reset();
 
      virtual void MoveTo(const CVector3& c_position,
                          const CQuaternion& c_orientation);
 
      virtual void CalculateBoundingBox();
 
      virtual void UpdateEntityStatus();
 
      virtual void UpdateFromEntityStatus()  = 0;
 
      virtual bool IsCollidingWithSomething() const;
 
      virtual void SetBody(cpBody* pt_body,
                           Real f_height);
 
      void UpdateOriginAnchor(SAnchor& s_anchor);
 
   private:
 
      CComposableEntity& m_cEntity;
      cpBody*            m_ptBody;
   };
 
}
 
#endif