entity.h

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#ifndef __ENTITY__
#define __ENTITY__

#include "particle.h"
#include "numeric.h"

class Entity : public Particle
{
    Point p;
    vector4 basis[3]; //local basis
    Manifold* m;
    
    void orthonormalize();
    
    double force[3];
    double angvel[3];
    

    vector4 calculateFourForce(int component);
    
    StateVector constructState();
    void setState(StateVector);
    Point getPosFromState(StateVector);
    vector4 getVelFromState(StateVector);
    vector4 getVectorFromState(StateVector, int);
public:
    //Entity(Manifold*, Point, vector4); - TODO

    Entity(Manifold* _m, Point _p, vector4 _u, vector4 _x, vector4 _y, vector4 _z);
    ~Entity();
    

    vector4 getStateVector(int i);
    vector4 getX();
    vector4 getY();
    vector4 getZ();
    

    StateVector derivative(StateVector v);
    void setCoordSystem(int);
    

    void setPosVel(Point, vector4);

    void setVel(vector4);
    

    void applyForce(double x, double y, double z);

    void applyAngVel(double x, double y, double z);

    void rotate(double pitch, double yaw, double roll);
};

#endif