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