#pragma once
#include "body.h"
#include "model_body.h"
#include "vector3.h"
#include "matrix4x4.h"

class DynamicBody : public ModelBody {
public:
  OBJDEF(DynamicBody, ModelBody, DYNAMICBODY);
  DynamicBody(void);
  virtual ~DynamicBody(void);
  virtual void SetRotMatrix(const matrix4x4d& r);
  virtual void GetRotMatrix(matrix4x4d& m);
  virtual void SetVelocity(vector3d v);
  virtual void SetPosition(vector3d p);
  virtual vector3d GetPosition(void) const;
  virtual vector3d GetVelocity(void);
  vector3d GetAngVelocity(void);
  void SetAngVelocity(vector3d v);
  void SetMesh(ObjMesh* m);
  virtual bool OnCollision(Body* b, Uint32 flags) { return true; }
  vector3d GetAngularMomentum(void);
  void SetMassDistributionFromCollMesh(const CollMesh* m);
  void DisableBodyOnly(void) { m_enabled = false; }
  bool IsEnabled(void) { return m_enabled; }
  virtual void Disable(void);
  virtual void Enable(void);
  virtual double GetMass(void) const { return m_mass; }
  virtual void TimeStepUpdate(const float timeStep);

  void SetMass(double);
  void AddForceAtPos(const vector3d force, const vector3d pos);
  void AddForce(const vector3d);
  void SetForce(const vector3d);
  void SetTorque(const vector3d);
  /* body-relative forces. */
  void AddRelForce(const vector3d);
  void AddRelTorque(const vector3d);

protected:
  virtual void Save(void);
  virtual void Load(void);

private:
  /* New odeless stuff. */
  matrix4x4d m_orient; /* Contains pos. */
  vector3d m_force;
  vector3d m_torque;
  vector3d m_vel;
  vector3d m_angVel;
  double m_mass;
  double m_massRadius; /* Set in a silly fashion from the collision mesh and used to calculate m_angInertia. */
  double m_angInertia; /* Always spehere mass distribution. */
  bool m_enabled;
};