RCArticulatedBodyFwdDynAlgo.h

/****************************************************************************
 * Copyright 2005 Evan Drumwright
 * This library is distributed under the terms of the GNU General Public 
 * License (found in COPYING).
 ****************************************************************************/

#ifndef _RC_ARTICULATED_BODY_FWD_DYN_ALGO_H
#define _RC_ARTICULATED_BODY_FWD_DYN_ALGO_H

#include <Physsim/Base.h>
#include <Physsim/Constants.h>
#include <Physsim/MatrixNN.h>

namespace Physsim {

class RCArticulatedBody;
        
class RCArticulatedBodyFwdDynAlgo : public Base
{
        public:
                RCArticulatedBodyFwdDynAlgo() { }
                virtual ~RCArticulatedBodyFwdDynAlgo() {}
                virtual void clone(BasePtr& cloned, bimap<BasePtr, BasePtr>* obj_map = NULL) const;
                virtual void load_state(BaseConstPtr object, bimap<BasePtr, BasePtr>* correspondence = NULL);
                virtual void save_state(BasePtr object, bimap<BasePtr, BasePtr>* correspondence = NULL) const;


                virtual void calc_fwd_dyn(RCArticulatedBodyPtr body, ReferenceFrameType rftype) = 0;

                virtual void apply_impulse(RCArticulatedBodyPtr body, const Vector3& j, const Vector3& k, const Vector3& contact_point, RigidBodyPtr link) = 0;

                ReferenceFrameType get_last_ref_frame() const { return _last_ref_frame; }

        protected:


                ReferenceFrameType _last_ref_frame;
                
}; // end class
} // end namespace

#endif

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