ShipContact.h

#pragma once
 
#include "SimObject.h"
#include "CollisionManager.h"
 
 
class CollisionCheckInterface {
public:
    typedef std::vector<CoRiBoDynamics::CollisionManager::InternalObject,Eigen::aligned_allocator<CoRiBoDynamics::CollisionManager::InternalObject>> GeometryVector;
 
    virtual GeometryVector CheckForContact(CoRiBoDynamics::CollisionManager::ExternalObject& object) = 0;
};
 
 
class ShipContact : public CoRiBoDynamics::CollisionManager {
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    ShipContact(ISimObjectCreator* creator, CoRiBoDynamics::ConstraintSolver* solver, double beta);
 
    void Update(const double * P,const double * Q, const double * V, const double * W);
 
    void ComputeConstraints(const double T, const double * const X);
 
    double m_Force[3];
    double m_Torque[3];
 
    void AddCollisionCheckInterface(CollisionCheckInterface* i){m_collision_interfaces.push_back(i);}
 
#ifdef FH_VISUALIZATION
    void    RenderInit(Ogre::Root* const ogreRoot);
    void    RenderUpdate();
    Ogre::SceneNode* m_node;
#endif
 
protected:
 
    std::vector<CollisionCheckInterface*> m_collision_interfaces;
 
    Eigen::Quaterniond m_capsule_rotation_offset;
    Eigen::Vector3d m_capsule_offset;
    Eigen::Vector3d m_offset_arm_global;
 
    double m_Q[4];
    double m_W[3];
    double m_P[3];
    double m_V[3];
    ExternalObject m_capsule;
};