BodyParamInfo.h

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#ifndef _BODYPARAMINFO_H
#define _BODYPARAMINFO_H

#include <Rcs_graph.h>

#include <PhysicsConfig.h>

#include <string>

namespace Rcs
{

/**
 * Information on a body and changing physics params.
 *
 * Apart from the body, this struct holds material parameters not storable in RcsBody, and flags to track modified parameters.
 */
struct BodyParamInfo
{
    enum ModifiedFlag
    {
        MOD_MASS = 1 << 0, // body mass changed
        MOD_COM = 1 << 1, // body center of gravity changed
        MOD_INERTIA = 1 << 2, // body inertia changed
        MOD_SHAPE = 1 << 3, // collision shapes changed
        MOD_POSITION = 1 << 4, // position changed
        MOD_ORIENTATION = 1 << 5 // orientation changed
    };
    
    //! The graph containing the body
    RcsGraph* graph;
    
    //! The body
    RcsBody* body;
    
    //! prefix for parameter names
    std::string paramNamePrefix;
    
    //! Material of the body's first shape
    PhysicsMaterial material;
    
    //! Flags tracking the modified state of the body
    int modifiedFlag;
    
    BodyParamInfo(RcsGraph* graph, const char* bodyName, PhysicsConfig* physicsConfig);
    
    //! Reset all change flags
    void resetChanged();
    
    //! Check if a parameter changed
    inline bool isChanged(int flag)
    {
        return (modifiedFlag & flag) == flag;
    }
    
    //! Mark if a parameter as changed
    inline void markChanged(int flag)
    {
        modifiedFlag |= flag;
    }
};

} // namespace Rcs

#endif //_BODYPARAMINFO_H