Observer.h

/*
Copyright 2007-2025. Algoryx Simulation AB.
 
All AGX source code, intellectual property, documentation, sample code,
tutorials, scene files and technical white papers, are copyrighted, proprietary
and confidential material of Algoryx Simulation AB. You may not download, read,
store, distribute, publish, copy or otherwise disseminate, use or expose this
material without having a written signed agreement with Algoryx Simulation AB.
 
Algoryx Simulation AB disclaims all responsibilities for loss or damage caused
from using this software, unless otherwise stated in written agreements with
Algoryx Simulation AB.
*/
 
#ifndef MOMENTUM_OBSERVER_H
#define MOMENTUM_OBSERVER_H
 
#include "momentum_export.h"
#include "momentum_namespace.h"
 
#include "macros.h"
#include "Vec3.h"
#include "Quat.h"
#include "RigidBody.h"
 
#ifndef SWIG
namespace agx
{
  class ObserverFrame;
}
#endif
 
namespace MOMENTUM_NAMESPACE
{
#ifndef SWIG
  class RigidBody;
#endif
 
  class MOMENTUM_EXPORT Observer
  {
  public:
#ifndef SWIG
 
    Observer(agx::ObserverFrame* Observer);
 
    Observer();
#endif
 
    bool getEnabled() const;
 
#ifndef AGX_MOMENTUM_ANALYSIS_API
    void setEnabled(bool enabled);
#endif
 
    Vec3 getPosition() const;
 
#ifndef AGX_MOMENTUM_ANALYSIS_API
    void setPosition(const Vec3& position);
#endif
 
    Quat getRotation() const;
 
#ifndef AGX_MOMENTUM_ANALYSIS_API
    void setRotation(const Quat& rotation);
#endif
 
    AffineMatrix4x4 getTransformation() const;
 
    AffineMatrix4x4 getWorldTransformation() const;
 
#ifndef AGX_MOMENTUM_ANALYSIS_API
    void setTransformation(const AffineMatrix4x4& transformation);
#endif
 
    Vec3 getVelocity() const;
 
    Vec3 getLinearVelocity() const;
 
    Vec3 getAngularVelocity() const;
 
    Vec3 getAcceleration() const;
 
    Vec3 getAngularAcceleration() const;
 
    std::shared_ptr<MOMENTUM_NAMESPACE::RigidBody> getRigidBody() const;
 
    Vec3 transformVectorToWorld(const Vec3& localVector) const;
 
    Vec3 transformVectorToWorld(double x, double y, double z) const;
 
    Vec3 transformVectorToLocal(const Vec3& worldVector) const;
 
    Vec3 transformVectorToLocal(double x, double y, double z) const;
 
    Vec3 transformPointToWorld(const Vec3& localPoint) const;
 
    Vec3 transformPointToWorld(double x, double y, double z) const;
 
    Vec3 transformPointToLocal(const Vec3& worldPoint) const;
 
    Vec3 transformPointToLocal(double x, double y, double z) const;
 
    std::string getName() const;
 
    std::string __str__() const;
 
#ifndef SWIG
      agx::ObserverFrame* getObserver() const;
#endif
  private:
#ifndef SWIG
    agx::ObserverFrame* m_observer;
#endif
  };
 
  V1_DECLARE_CONTAINER_TYPE(Observer);
 
} // namespace momentum
 
 
#endif