RigidObject.h

#ifndef KLAMPT_RIGID_OBJECT_H
#define KLAMPT_RIGID_OBJECT_H

#include <KrisLibrary/geometry/AnyGeometry.h>
#include <string>
#include "ManagedGeometry.h"

namespace Klampt {
  using namespace std;
  using namespace Math3D;

class RigidObjectModel
{
public:
  RigidObjectModel();
  bool Load(const char* fn);
  bool Save(const char* fn);
  bool LoadGeometry(const char* fn);
  void SetMassFromGeometry(Real totalMass,Real surfaceFraction=1.0);
  void SetMassFromBB(Real totalMass);
  void InitCollisions();
  void UpdateGeometry(); 
  void DrawGL();
  void DrawGLOpaque(bool opaque);

  string name;
  string geomFile;
  ManagedGeometry geometry;
  RigidTransform T;    //current transform
  Vector3 w,v;         //current angular velocity and velocity
  Real mass;           //mass
  Vector3 com;         //center of mass in local frame
  Matrix3 inertia;     //inertia matrix about com
  Real kFriction;
  Real kRestitution;
  Real kStiffness,kDamping;
};

} //namespace Klampt

#endif