include/vamos/body/Contact_Point.h

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//      Contact_Point.h - a particle that responds to collisions.
//
//  Copyright (C) 2002 Sam Varner
//
//  This file is part of Vamos Automotive Simulator.
//
//  This program is free software; you can redistribute it and/or modify
//  it under the terms of the GNU General Public License as published by
//  the Free Software Foundation; either version 2 of the License, or
//  (at your option) any later version.
//
//  This program is distributed in the hope that it will be useful,
//  but WITHOUT ANY WARRANTY; without even the implied warranty of
//  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
//  GNU General Public License for more details.
//
//  You should have received a copy of the GNU General Public License
//  along with this program; if not, write to the Free Software
//  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

#ifndef _CONTACT_POINT_H_
#define _CONTACT_POINT_H_

#include <vamos/body/Particle.h>
#include <vamos/geometry/Material.h>

class Vamos_Geometry::Inertia_Tensor;

namespace Vamos_Body
{
  //* A Contact_Point is a Particle that responds to collisions.  The
  //  impulse is calculated in the contact() method.
  class Contact_Point : public Particle
  {
  protected:
        // true if a collision has occurred.
        bool m_contact;

        virtual void find_forces ();

        virtual void end_timestep ();

  public:
        //** Constructors

        // Specify position and orientation.
        Contact_Point (double mass, const Vamos_Geometry::Three_Vector& position, 
                                   const Vamos_Geometry::Three_Matrix& orientation,
                                   Vamos_Geometry::Material::Material_Type type,
                                   double friction, double restitution);

        // Take the parent's orientation.
        Contact_Point (double mass, const Vamos_Geometry::Three_Vector& position,
                                   Vamos_Geometry::Material::Material_Type type,
                                   double friction, double restitution);

        // Default constructor.
        Contact_Point ();

        // Handle collisions.  The return value is how much the particle
        // has moved as a result of the contact.  For a Particle, this is
        // always 0.  But, for derived classes that model moving parts, a
        // non-zero value may be returned.
        virtual double contact (const Vamos_Geometry::Three_Vector& position,
                                                        const Vamos_Geometry::Inertia_Tensor& inertia,
                                                        const Vamos_Geometry::Three_Vector& velocity,
                                                        double distance,
                                                        const Vamos_Geometry::Three_Vector& normal,
                                                        const Vamos_Geometry::Three_Vector& ang_velocity,
                                                        Vamos_Geometry::Material_Handle material);

        virtual bool single_contact () const { return true; }
  };
}

#endif // not _CONTACT_POINT_H_

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