iwall.h

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#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