ODELink.hh

/*
 * Copyright 2011 Nate Koenig & Andrew Howard
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: ODE Link class
 * Author: Nate Koenig
 */

#ifndef ODELINK_HH
#define ODELINK_HH

#include "physics/ode/ode_inc.h"

#include "physics/ode/ODETypes.hh"
#include "physics/Link.hh"

namespace gazebo
{
    namespace physics
  {
    class ODEPhysics;

    
 
    class ODELink : public Link
    {
      public: ODELink(EntityPtr parent);
  
      public: virtual ~ODELink();
  
      public: virtual void Load( sdf::ElementPtr &_sdf );
  
      public: virtual void Init();
  
      public: virtual void Fini();
  
      public: virtual void Update();
  
      public: virtual void OnPoseChange();
  
      public: dBodyID GetODEId() const;

      public: virtual void SetEnabled(bool enable) const;
  
      public: virtual bool GetEnabled() const;
  
      public: virtual void UpdateMass();
  
      public: virtual void SetLinearVel(const math::Vector3 &vel);
  
      public: virtual void SetAngularVel(const math::Vector3 &vel);
  
      public: virtual void SetForce(const math::Vector3 &_force);

      public: virtual void SetTorque(const math::Vector3 &_torque);

      public: virtual void AddForce(const math::Vector3 &_force);
  
      public: virtual void AddRelativeForce(const math::Vector3 &_force);

      public: virtual void AddForceAtRelativePosition(
                  const math::Vector3 &_force,const math::Vector3 &_relpos);

      public: virtual void AddTorque(const math::Vector3 &_torque);
 
      public: virtual void AddRelativeTorque(const math::Vector3 &_torque);

      public: virtual math::Vector3 GetWorldLinearVel() const;
  
      public: virtual math::Vector3 GetWorldAngularVel() const;
  
      public: virtual math::Vector3 GetWorldForce() const;
  
      public: virtual math::Vector3 GetWorldTorque() const;
  
      public: virtual void SetGravityMode(bool mode);
  
      public: virtual bool GetGravityMode();
  
      public: void SetSelfCollide(bool collide);
  
      public: dSpaceID GetSpaceId() const;
  
      public: void SetSpaceId(dSpaceID spaceid);
  
      public: virtual void SetLinearDamping(double damping);
  
      public: virtual void SetAngularDamping(double damping);
  
      public: static void MoveCallback(dBodyID id);
  
      public: virtual void SetKinematic(const bool &state);
  
      public: virtual bool GetKinematic() const;
  
      protected: math::Pose pose;
  
      private: dBodyID linkId;
  
      private: ODEPhysicsPtr odePhysics;
  
      private: dSpaceID spaceId;
    };
  
    
  }

}
#endif