File indexing completed on 2024-10-06 06:37:52

 /*
     SPDX-FileCopyrightText: 2007 Vladimir Kuznetsov <ks.vladimir@gmail.com>
     SPDX-FileCopyrightText: 2014 Inge Wallin <inge@lysator.liu.se>
 
     SPDX-License-Identifier: GPL-2.0-or-later
 */
 
 /** \file body.h
  *  \brief Contains the Body object.
  */
 
 #ifndef STEPCORE_BODY_H
 #define STEPCORE_BODY_H
 
 
 #include <vector> // XXX: Replace if Qt is enabled.
 
 #include "types.h"
 #include "material.h"
 #include "item.h"
 
 
 namespace StepCore
 {
 
 
 class Material;
 /** \ingroup bodies
  *  \brief Interface for bodies
  *
  *  Body is anything that has dynamic variables that require ODE integration
  */
 class Body : public Item
 {
     STEPCORE_OBJECT(Body)
 
 public:
     explicit Body(const QString& name = QString())
         : Item(name)
         , _material(&GenericMaterial)
     , _variablesOffset(0)
     {}
     virtual ~Body() {}
 
     /** Get the material of the body. */
     Material *material() const { return _material; }
 
     /** Set material of the  body (FIXME: Must be enhanced with META_PROPERTY later) */
     void setMaterial(Material *mtrl) { _material = mtrl; }
 
     /** Get count of dynamic variables (not including velocities) */
     virtual int  variablesCount() = 0;
 
     /** Set positions, velocities and (possibly) its variances using values in arrays and
      *  also reset accelerations and its variances. Variances should only be copied
      *  and reset if positionVariance != NULL. */
     virtual void setVariables(const double* position, const double* velocity,
                const double* positionVariance, const double* velocityVariance) = 0;
 
     /** Copy positions, velocities and (possibly) its variances to arrays.
      *  Variances should only be copied if positionVariance != NULL. */
     virtual void getVariables(double* position, double* velocity,
                      double* positionVariance, double* velocityVariance) = 0;
 
     /** Add force and (possibly) its variance to force accumulator.
      *  \note This function is used only by generic constraints handling code,
      *        force objects should use body-specific functions. */
     virtual void addForce(const double* force, const double* forceVariance) = 0;
 
     /** Reset force accumulator and (possibly) its variance to zero.
      *  Variance should only be reset if resetVariance == true. */
     virtual void resetForce(bool resetVariance) = 0;
 
     /** Copy acceleration (forces left-multiplied by inverse mass)
      *  and (possibly) its variances to arrays.
      *  Variances should only be copied if accelerationVariance != NULL. */
     virtual void getAccelerations(double* acceleration, double* accelerationVariance) = 0;
 
     /** Get inverse mass and (possibly) its variance matrices.
      *  Variance should only be copied of variance != NULL. */
     virtual void getInverseMass(VectorXd* inverseMass,
                                 DynSparseRowMatrix* variance, int offset) = 0;
     
     /** Offset of body's variables in global arrays
      *  (meaningless if the body is not a part of the world) */
     int variablesOffset() const { return _variablesOffset; }
 
 private:
     friend class World;
 
     Material  *_material;
 
     /** \internal Set offset of body's variables in global arrays */
     void setVariablesOffset(int variablesOffset)
     {
         _variablesOffset = variablesOffset;
     }
 
     int _variablesOffset;
 };
 
 
 /** List of pointers to Body */
 typedef std::vector<Body*>  BodyList;
 
 
 } // namespace StepCore
 
 
 #endif