#ifndef ODEBODY_H

#define ODEBODY_H

#include "pandabase.h"

#include "typedObject.h"

#include "luse.h"

#include "ode_includes.h"

#include "odeWorld.h"

#include "odeMass.h"

class OdeJoint;

class OdeGeom;

class OdeCollisionEntry;

class EXPCL_PANDAODE OdeBody : public TypedObject {

friend class OdeJoint;

friend class OdeGeom;

friend class OdeCollisionEntry;

OdeBody(dBodyID id);

PUBLISHED:

OdeBody(OdeWorld &world);

virtual ~OdeBody();

void destroy();

INLINE bool is_empty() const;

INLINE dBodyID get_id() const;

INLINE void set_auto_disable_linear_threshold(dReal linear_threshold);

INLINE void set_auto_disable_angular_threshold(dReal angular_threshold);

INLINE void set_auto_disable_steps(int steps);

INLINE void set_auto_disable_time(dReal time);

INLINE void set_auto_disable_flag(int do_auto_disable);

INLINE void set_auto_disable_defaults();

INLINE void set_data(void *data);

EXTENSION(void set_data(PyObject *data));

INLINE void set_position(dReal x, dReal y, dReal z);

INLINE void set_position(const LVecBase3f &pos);

INLINE void set_rotation(const LMatrix3f &r);

INLINE void set_quaternion(const LQuaternionf &q);

INLINE void set_linear_vel(dReal x, dReal y, dReal z);

INLINE void set_linear_vel(const LVecBase3f &vel);

INLINE void set_angular_vel(dReal x, dReal y, dReal z);

INLINE void set_angular_vel(const LVecBase3f &vel);

INLINE void set_mass(OdeMass &mass);

INLINE dReal get_auto_disable_linear_threshold() const;

INLINE dReal get_auto_disable_angular_threshold() const;

INLINE int get_auto_disable_steps() const;

INLINE dReal get_auto_disable_time() const;

INLINE int get_auto_disable_flag() const;

#ifndef CPPPARSER

INLINE void *get_data() const;

#endif

EXTENSION(PyObject *get_data() const);

INLINE LVecBase3f get_position() const;

INLINE LMatrix3f get_rotation() const;

INLINE LVecBase4f get_quaternion() const;

INLINE LVecBase3f get_linear_vel() const;

INLINE LVecBase3f get_angular_vel() const;

INLINE OdeMass get_mass() const;

INLINE void add_force(dReal fx, dReal fy, dReal fz);

INLINE void add_force(const LVecBase3f &f);

INLINE void add_torque(dReal fx, dReal fy, dReal fz);

INLINE void add_torque(const LVecBase3f &f);

INLINE void add_rel_force(dReal fx, dReal fy, dReal fz);

INLINE void add_rel_force(const LVecBase3f &f);

INLINE void add_rel_torque(dReal fx, dReal fy, dReal fz);

INLINE void add_rel_torque(const LVecBase3f &f);

INLINE void add_force_at_pos(dReal fx, dReal fy, dReal fz,

dReal px, dReal py, dReal pz);

INLINE void add_force_at_pos(const LVecBase3f &f,

const LVecBase3f &pos);

INLINE void add_force_at_rel_pos(dReal fx, dReal fy, dReal fz,

dReal px, dReal py, dReal pz);

INLINE void add_force_at_rel_pos(const LVecBase3f &f,

const LVecBase3f &pos);

INLINE void add_rel_force_at_pos(dReal fx, dReal fy, dReal fz,

dReal px, dReal py, dReal pz);

INLINE void add_rel_force_at_pos(const LVecBase3f &f,

const LVecBase3f &pos);

INLINE void add_rel_force_at_rel_pos(dReal fx, dReal fy, dReal fz,

dReal px, dReal py, dReal pz);

INLINE void add_rel_force_at_rel_pos(const LVecBase3f &f,

const LVecBase3f &pos);

INLINE void set_force(dReal x, dReal y, dReal z);

INLINE void set_force(const LVecBase3f &f);

INLINE void set_torque(dReal x, dReal y, dReal z);

INLINE void set_torque(const LVecBase3f &f);

INLINE LPoint3f get_rel_point_pos(dReal px, dReal py, dReal pz) const;

INLINE LPoint3f get_rel_point_pos(const LVecBase3f &pos) const;

INLINE LPoint3f get_rel_point_vel(dReal px, dReal py, dReal pz) const;

INLINE LPoint3f get_rel_point_vel(const LVecBase3f &pos) const;

INLINE LPoint3f get_point_vel(dReal px, dReal py, dReal pz) const;

INLINE LPoint3f get_point_vel(const LVecBase3f &pos) const;

INLINE LPoint3f get_pos_rel_point(dReal px, dReal py, dReal pz) const;

INLINE LPoint3f get_pos_rel_point(const LVecBase3f &pos) const;

INLINE LVecBase3f vector_to_world(dReal px, dReal py, dReal pz) const;

INLINE LVecBase3f vector_to_world(const LVecBase3f &pos) const;

INLINE LVecBase3f vector_from_world(dReal px, dReal py, dReal pz) const;

INLINE LVecBase3f vector_from_world(const LVecBase3f &pos) const;

INLINE void set_finite_rotation_mode(int mode);

INLINE void set_finite_rotation_axis(dReal x, dReal y, dReal z);

INLINE void set_finite_rotation_axis(const LVecBase3f &axis);

INLINE int get_finite_rotation_mode() const;

INLINE LVecBase3f get_finite_rotation_axis() const;

INLINE int get_num_joints() const;

OdeJoint get_joint(int index) const;

MAKE_SEQ(get_joints, get_num_joints, get_joint);

EXTENSION(INLINE PyObject *get_converted_joint(int i) const);

MAKE_SEQ_PROPERTY(joints, get_num_joints, get_converted_joint);

INLINE void enable();

INLINE void disable();

INLINE int is_enabled() const;

INLINE void set_gravity_mode(int mode);

INLINE int get_gravity_mode() const;

virtual void write(std::ostream &out = std::cout, unsigned int indent=0) const;

operator bool () const;

INLINE int compare_to(const OdeBody &other) const;

dBodyID _id;

typedef void (*DestroyCallback)(OdeBody &body);

DestroyCallback _destroy_callback = nullptr;

static TypeHandle get_class_type() {

return _type_handle;

}

static void init_type() {

}

virtual TypeHandle get_type() const {

return get_class_type();

}

virtual TypeHandle force_init_type() {init_type(); return get_class_type();}

static TypeHandle _type_handle;

};

#include "odeBody.I"

#endif