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//	Contact_Point.h - a particle that responds to collisions.

//

//  Copyright (C) 2002 Sam Varner

//

//  This file is part of Vamos Automotive Simulator.

//

//  Vamos is free software: you can redistribute it and/or modify

//  it under the terms of the GNU General Public License as published by

//  the Free Software Foundation, either version 3 of the License, or

//  (at your option) any later version.

//  

//  Vamos is distributed in the hope that it will be useful,

//  but WITHOUT ANY WARRANTY; without even the implied warranty of

//  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

//  GNU General Public License for more details.

//  

//  You should have received a copy of the GNU General Public License

//  along with Vamos.  If not, see <http://www.gnu.org/licenses/>.



#ifndef _CONTACT_POINT_H_

#define _CONTACT_POINT_H_



#include "Particle.h"

#include "../geometry/Material.h"



namespace Vamos_Body

{

  // A Contact_Point is a Particle that responds to collisions.  The

  // impulse is calculated in the contact() method.

  class Contact_Point : public Particle

  {

  public:

	// Specify position and orientation.

	Contact_Point (double mass, 

                   const Vamos_Geometry::Three_Vector& position, 

				   const Vamos_Geometry::Three_Matrix& orientation,

				   Vamos_Geometry::Material::Material_Type type,

				   double friction, 

                   double restitution,

                   const Frame* parent = 0);



	// Take the parent's orientation.

	Contact_Point (double mass, const Vamos_Geometry::Three_Vector& position,

				   Vamos_Geometry::Material::Material_Type type,

				   double friction, double restitution,

                   const Frame* parent = 0);



    Contact_Point (const Particle& particle,

                   const Vamos_Geometry::Material& material);





	// Handle collisions.  The return value is how much the particle

	// has moved as a result of the contact.  For a Particle, this is

	// always 0.  But, for derived classes that model moving parts, a

	// non-zero value may be returned.

	virtual double contact (const Vamos_Geometry::Three_Vector& impulse,

                            const Vamos_Geometry::Three_Vector& velocity, 

                            double distance,

                            const Vamos_Geometry::Three_Vector& normal,

                            const Vamos_Geometry::Three_Vector& angular_velocity,

                            const Vamos_Geometry::Material& material);



  protected:

	// true if a collision has occurred.

	bool m_contact;



	virtual void find_forces ();



	virtual void end_timestep ();

  };

}



#endif // not _CONTACT_POINT_H_