Body.h

//  trax track library
//  AD 2023 
//
//  "the resolution of all the fruitless searches"
//
//                              Peter Gabriel
//
// 
// Copyright (c) 2025 Trend Redaktions- und Verlagsgesellschaft mbH
// Copyright (c) 2019 Marc-Michael Horstmann
//
// Permission is hereby granted to any person obtaining a copy of this software 
// and associated source code (the "Software"), to use, view, and study the 
// Software for personal or internal business purposes, subject to the following 
// conditions:
//
// 1. Redistribution, modification, sublicensing, or commercial use of the 
// Software is NOT permitted without prior written consent from the copyright 
// holder.
//
// 2. The Software is provided "AS IS", without warranty of any kind, express 
// or implied.
//
// 3. All copies of the Software must retain this license notice.
//
// For further information, please contact: horstmann.marc@trendverlag.de
 
#pragma once
 
#include "trax/Configuration.h"
#include "trax/Units.h"
 
#include "spat/Frame.h"
#include "spat/Matrix.h"
#include "spat/Box.h"
#include "spat/Sphere.h"
 
namespace trax{

    struct Body{
 
        // Body's name:

        virtual void SetName( const char* name ) noexcept = 0;
 

        virtual const char* GetName() const noexcept = 0;
 
 
        // Body's pose:

        virtual void SetFrame( const spat::Frame<Length,One>& frame ) noexcept = 0;
 

        virtual void GetFrame( spat::Frame<Length,One>& frame ) const noexcept = 0;
 

        virtual void WakeUp() = 0;
 

        virtual bool IsSleeping() const noexcept = 0;
 
 
        virtual void SetSleepDelay( Time threshold ) = 0;
 
        virtual Time GetSleepDelay() const noexcept = 0;
 
        virtual void SetSleepThreshold( decltype(Velocity{}*Velocity{}) threshold ) = 0;
 
        virtual decltype(Velocity{}*Velocity{}) GetSleepThreshold() const noexcept = 0;
 
 
        //Mass and inertia:

        virtual void SetMass( Mass mass ) = 0;
 

        virtual Mass GetMass() const noexcept = 0;
 

        virtual void CenterOfMass( const spat::Position<Length>& pos ) noexcept = 0;
 

        virtual spat::Position<Length> CenterOfMass() const noexcept = 0;
 

        virtual void InertiaTensor( const spat::SquareMatrix<Area,3>& specificInertiaTensor ) = 0;
 

        virtual spat::SquareMatrix<Area,3> InertiaTensor() const = 0;
 
 
 
 
 
 

        virtual void SetLinearVelocity( const spat::Vector<Velocity>& v ) = 0;
 

        virtual void GetLinearVelocity( spat::Vector<Velocity>& v ) const = 0;
 

        virtual void SetAngularVelocity( const spat::Vector<AngularVelocity>& w ) = 0;
 

        virtual void GetAngularVelocity( spat::Vector<AngularVelocity>& w ) const = 0;
 
 
 
    //  virtual Shape& GetGeomList() noexcept = 0;
        //...
 
        virtual ~Body() = default;
    };
 

    dclspc spat::SquareMatrix<Area,3> SpecificInertiaTensorFor( const spat::Box<Length>& box );
 
    dclspc spat::SquareMatrix<Area,3> SpecificInertiaTensorFor( const spat::Sphere<Length>& sphere );
 
    dclspc spat::SquareMatrix<Area,3> SpecificInertiaTensorForCylinder( Length radius, Length length );
}