iwall.h

Go to the documentation of this file.

#pragma once
#include "base/src/farray.h"
 
namespace itasca {
 class IThing;
 class IGroup;
}
namespace itascaxd {
 class IPiece;
 class IPieceMechanical;
 class IBody;
 class IContact;
}
 
namespace pfc {
 using namespace itasca;
 using namespace itascaxd;
 
 class IWall {
 public:
 inline static const TType type_ = 0x4cd817c3;
 
 virtual IThing * getIThing() = 0;
 virtual const IThing * getIThing() const = 0;
 virtual IWall * getNext() = 0;
 virtual const IWall * getNext() const = 0;
 virtual IPiece * getFirstIPiece() = 0;
 virtual const IPiece * getFirstIPiece() const = 0;
 virtual IPieceMechanical * getFirstIPieceMechanical() = 0;
 virtual const IPieceMechanical *getFirstIPieceMechanical() const = 0;
 virtual IBody * getIBody() = 0;
 virtual const IBody * getIBody() const = 0;
 virtual bool isFWall() const = 0;
 //virtual QStringList getAllPieceProperties() const = 0;
 
 virtual DVect getPosition() const = 0;
 virtual DVect getCentRot() const = 0;
 virtual DVect getVelocity() const = 0;
 virtual DAVect getAngVelocity() const = 0;
 virtual DVect getDisplacement() const = 0;
#ifdef TWOD
 virtual double getAngDisplacement() const = 0;
#endif
 virtual DVect getForce() const = 0;
 virtual DAVect getMoment() const = 0;
 virtual Quat getOrient() const=0;
 
 virtual void setPosition(const DVect &p) = 0;
 virtual void setCentRot(const DVect &p) = 0;
 virtual void setVelocity(const DVect &p) = 0;
 virtual void setAngVelocity(const DAVect &p) = 0;
 virtual void setDisplacement(const DVect &v) = 0;
#ifdef TWOD
 virtual void setAngDisplacement(const double &v) = 0;
#endif
 virtual void setOrient(const Quat &q)=0;
#ifdef THREED
 virtual void setOrientFromEuler(const DVect3 &d)=0;
#endif
 
 virtual void rotate(const DVect &rotp,const DVect &axis,const double &w,bool update=true,bool noThrow = false) = 0;
 
 virtual bool setProperty(const QString &name,const QVariant &v)=0;
 virtual void getContactList(FArray<IContact *> *ret,const TType &type=0,const IPiece *p2=0)=0;
 virtual void getContactList(FArray<const IContact *> *ret,const TType &type=0,const IPiece *p2=0) const=0;
 virtual uint64 getContactCount(bool active,const TType &type=0,bool domainToo = false) const=0;
 virtual double getServoGainFactor() const =0;
 virtual double getServoGain() const =0;
 virtual double getServoVmax() const =0;
 virtual DVect getServoForce() const =0;
 virtual bool getServoActive() const =0;
 virtual int getServoGainUpdate() const =0;
 virtual void setServoGainFactor(const double &d) =0;
 virtual void setServoGain(const double &d) =0;
 virtual void setServoVmax(const double &d) =0;
 virtual void setServoForce(const DVect &f) =0;
 virtual void setServoActive(bool b) =0;
 virtual void setServoGainUpdate(int i) =0;
 };
} // namespace pfc
// EoF