DynamicScene.h

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#ifndef DYNAMICSCENE_H
#define DYNAMICSCENE_H

#include <vrecko/Ability.h>
#include <vrecko/EnvironmentObject.h>
#include <vreckoAP/Export>

#include <osg/Vec3>
#include <osg/Vec4>

#include <ode/ode.h>

#include <vector>
#include <map>
#include <string>

using namespace vrecko;


namespace ode {

typedef struct {
    dBodyID body;   // the body
    std::vector<dGeomID*> geom; // geometries representing this body
    std::vector<double *> geom_translate;
    double translate[3];
    bool enable;
    unsigned steps_before_disable_state;
} ODEObject;


class AP_EXPORT DynamicScene: public Ability {
    public:

        class MessageODERequest : public VreckoMessage {
        public:
            virtual const char* getMessageId() { return "ODERequest"; }

            EnvironmentObject *sender;
            std::string type;
            double parameter[20];   // parameters - size, density, relative position and orientation
            std::multimap<std::string, double*> object;
        };

/*      typedef struct {
            std::string type;
            double parameter[20];   // parameters - size, density, relative position and orientation
            std::multimap<std::string, double*> object;
        } Request;*/


        DynamicScene();
        ~DynamicScene();

        virtual bool initialize(XERCES_CPP_NAMESPACE_QUALIFIER DOMNode *parameters = NULL);

//      void processEvent(const std::string &input_name, void *value);

        void update(void);

//      std::string getAcceptableMessages(void) {return "ODE";}

//      XERCES_CPP_NAMESPACE_QUALIFIER DOMNode *saveXMLParameters(XERCES_CPP_NAMESPACE_QUALIFIER DOMDocument *);

        void setEnableFlag(vrecko::EnvironmentObject *_eobject, bool _new_state);
        void enableAllObjects(void);

        void setForceToDynamicObject(vrecko::EnvironmentObject *_eobject, float _fx, float _fy, float _fz);
        void setTorqueToDynamicObject(vrecko::EnvironmentObject *_eobject, float _fx, float _fy, float _fz);
        void setForce(vrecko::EnvironmentObject *_eobject, osg::Vec3 _fv);
        void setTorque(vrecko::EnvironmentObject *_eobject, osg::Vec3 _fv);
        
        void setLinearVel(vrecko::EnvironmentObject *_eobject, osg::Vec3 _lv);
        void setAngularVel(vrecko::EnvironmentObject *_eobject, osg::Vec3 _av);


        dWorldID _world;
        dSpaceID _space;
        dJointGroupID _contact_group;

        typedef std::pair <std::string, double*> Object_Pair;

    protected:
        osg::Vec3 _gravity;
        double _CFM;
        double _ERP;
        osg::Vec4 _plane;
//      double _step; // OBSOLETE: Incorrect setting

        std::map<vrecko::EnvironmentObject *, ODEObject *> _scene_objects;
        std::vector<dGeomID> _objects_dGeomID;

        //MyObject obj[20];
        std::vector<ODEObject *> _dynamic_object;

        osg::Vec3 _retv;
        osg::Quat _retq;

        std::map<vrecko::EnvironmentObject *, bool> _enabled_objects;

        void updateLocationInDynamic(void);
        void updateLocationInNonDynamic(void);
        
        void disableThreshold(void);

        DECLARE_REQUEST_INPUT(ODE, MessageODERequest, MessageVoid);
};

}

#endif