/**
 * PANDA 3D SOFTWARE
 * Copyright (c) Carnegie Mellon University.  All rights reserved.
 *
 * All use of this software is subject to the terms of the revised BSD
 * license.  You should have received a copy of this license along
 * with this source code in a file named "LICENSE."
 *
 * @file physicsObject.I
 * @author charles
 * @date 2000-06-13
 */

/**
 * Set the mass in slugs (or kilograms).
 */
INLINE void PhysicsObject::
set_mass(PN_stdfloat m) {
  nassertv(m > 0);
  _mass = m;
}

/**
 * Vector position assignment.  This is also used as the center of mass.
 */
INLINE void PhysicsObject::
set_position(const LPoint3 &pos) {
  nassertv(!pos.is_nan());
  _position = pos;
}

/**
 * Piecewise position assignment
 */
INLINE void PhysicsObject::
set_position(PN_stdfloat x, PN_stdfloat y, PN_stdfloat z) {
  nassertv(!LPoint3(x, y, z).is_nan());
  _position.set(x, y, z);
}

/**
 * use this to place an object in a completely new position, that has nothing
 * to do with its last position.
 */
INLINE void PhysicsObject::
reset_position(const LPoint3 &pos) {
  nassertv(!pos.is_nan());
  _position = pos;
  _last_position = pos;
  _velocity.set(0.0f, 0.0f, 0.0f);
}

/**
 * set the orientation while clearing the rotation velocity.
 */
INLINE void PhysicsObject::
reset_orientation(const LOrientation &orientation) {
  nassertv(!orientation.is_nan());
  _orientation = orientation;
  _rotation = LRotation::ident_quat();
}

/**
 * Last position assignment
 */
INLINE void PhysicsObject::
set_last_position(const LPoint3 &pos) {
  _last_position = pos;
}

/**
 * Vector velocity assignment
 */
INLINE void PhysicsObject::
set_velocity(const LVector3 &vel) {
  nassertv(!vel.is_nan());
  _velocity = vel;
}

/**
 * Piecewise velocity assignment
 */
INLINE void PhysicsObject::
set_velocity(PN_stdfloat x, PN_stdfloat y, PN_stdfloat z) {
  nassertv(!LVector3(x, y, z).is_nan());
  _velocity.set(x, y, z);
}

/**
 * Adds an torque force (i.e.  an instantanious change in velocity).  This is
 * a quicker way to get the angular velocity, add a vector to it and set that
 * value to be the new angular velocity.
 */
INLINE void PhysicsObject::
add_local_torque(const LRotation &torque) {
  nassertv(!torque.is_nan());
  _rotation+=_orientation.xform(torque);
}

/**
 * Adds an impulse force (i.e.  an instantanious change in velocity).  This is
 * a quicker way to get the velocity, add a vector to it and set that value to
 * be the new velocity.
 */
INLINE void PhysicsObject::
add_local_impulse(const LVector3 &impulse) {
  nassertv(!impulse.is_nan());
  _velocity += _orientation.xform(impulse);
}

/**
 * Adds an torque force (i.e.  an instantanious change in velocity).  This is
 * a quicker way to get the angular velocity, add a vector to it and set that
 * value to be the new angular velocity.
 */
INLINE void PhysicsObject::
add_torque(const LRotation &torque) {
  nassertv(!torque.is_nan());
  _rotation+=torque;
}

/**
 * Adds an impulse force (i.e.  an instantanious change in velocity).  This is
 * a quicker way to get the velocity, add a vector to it and set that value to
 * be the new velocity.
 */
INLINE void PhysicsObject::
add_impulse(const LVector3 &impulse) {
  nassertv(!impulse.is_nan());
  _velocity+=impulse;
}

/**
 * Process Flag assignment
 */
INLINE void PhysicsObject::
set_active(bool flag) {
  _process_me = flag;
}

/**
 * tv assignment
 */
INLINE void PhysicsObject::
set_terminal_velocity(PN_stdfloat tv) {
  _terminal_velocity = tv;
}

/**
 * Get the mass in slugs (or kilograms).
 */
INLINE PN_stdfloat PhysicsObject::
get_mass() const {
  return _mass;
}

/**
 * Position Query
 */
INLINE LPoint3 PhysicsObject::
get_position() const {
  return _position;
}

/**
 * Get the position of the physics object at the start of the most recent
 * do_physics.
 */
INLINE LPoint3 PhysicsObject::
get_last_position() const {
  return _last_position;
}

/**
 * Velocity Query per second
 */
INLINE LVector3 PhysicsObject::
get_velocity() const {
  return _velocity;
}

/**
 * Velocity Query over the last dt
 */
INLINE LVector3 PhysicsObject::
get_implicit_velocity() const {
  return _position-_last_position;
}

/**
 * Process Flag Query
 */
INLINE bool PhysicsObject::
get_active() const {
  return _process_me;
}

/**
 * tv query
 */
INLINE PN_stdfloat PhysicsObject::
get_terminal_velocity() const {
  return _terminal_velocity;
}

/**
 *
 */
INLINE void PhysicsObject::
set_orientation(const LOrientation &orientation) {
  nassertv(!orientation.is_nan());
  _orientation = orientation;
}

/**
 * set rotation as a quaternion delta per second.
 */
INLINE void PhysicsObject::
set_rotation(const LRotation &rotation) {
  nassertv(!rotation.is_nan());
  _rotation = rotation;
}

/**
 * get current orientation.
 */
INLINE LOrientation PhysicsObject::
get_orientation() const {
  return _orientation;
}

/**
 * get rotation per second.
 */
INLINE LRotation PhysicsObject::
get_rotation() const {
  return _rotation;
}

/**
 * Set flag to determine whether this object should do any rotation or
 * orientation calculations.  Optimization.
 */
INLINE void PhysicsObject::
set_oriented(bool flag) {
  _oriented = flag;
}

/**
 * See set_oriented().
 */
INLINE bool PhysicsObject::
get_oriented() const {
  return _oriented;
}