collidableproxy.cpp

// © Copyright 2010 - 2016 BlackTopp Studios Inc.
/* This file is part of The Mezzanine Engine.

The Mezzanine Engine 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.

The Mezzanine Engine 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 The Mezzanine Engine. If not, see <http://www.gnu.org/licenses/>.
*/
/* The original authors have included a copy of the license specified above in the
'Docs' folder. See 'gpl.txt'
*/
/* We welcome the use of the Mezzanine engine to anyone, including companies who wish to
Build professional software and charge for their product.

However there are some practical restrictions, so if your project involves
any of the following you should contact us and we will try to work something
out:
- DRM or Copy Protection of any kind(except Copyrights)
- Software Patents You Do Not Wish to Freely License
- Any Kind of Linking to Non-GPL licensed Works
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- If You want to change our code and not add a few hundred MB of stuff to
your distribution

These and other limitations could cause serious legal problems if you ignore
them, so it is best to simply contact us or the Free Software Foundation, if
you have any questions.

Joseph Toppi - toppij@gmail.com
John Blackwood - makoenergy02@gmail.com
*/
#ifndef _collidableproxy_cpp
#define _collidableproxy_cpp

#include "Physics/collidableproxy.h"
#include "Physics/collisionshape.h"
#include "Physics/physicsmanager.h"
#include "Physics/collisionshapemanager.h"

#include "stringtool.h"
#include "serialization.h"
#include "exception.h"

#include <btBulletDynamicsCommon.h>

namespace
{
    Mezzanine::Boole IsConvex(const Mezzanine::Physics::CollisionShape::ShapeType Type)
    {
        switch( Type )
        {
            // All the basic convex shapes
            case Mezzanine::Physics::CollisionShape::ST_Box:
            case Mezzanine::Physics::CollisionShape::ST_Capsule:
            case Mezzanine::Physics::CollisionShape::ST_Cone:
            case Mezzanine::Physics::CollisionShape::ST_ConvexHull:
            case Mezzanine::Physics::CollisionShape::ST_Cylinder:
            case Mezzanine::Physics::CollisionShape::ST_MultiSphere:
            case Mezzanine::Physics::CollisionShape::ST_Sphere:
            {
                return true;
                break;
            }
            default:
            {
                return false;
                break;
            }
        }
    }

    Mezzanine::Boole IsCompound(const Mezzanine::Physics::CollisionShape::ShapeType Type)
        { return Type == Mezzanine::Physics::CollisionShape::ST_Compound; }

    Mezzanine::Boole IsStaticTrimesh(const Mezzanine::Physics::CollisionShape::ShapeType Type)
        { return Type == Mezzanine::Physics::CollisionShape::ST_StaticTriMesh; }

    Mezzanine::Boole IsDynamicTrimesh(const Mezzanine::Physics::CollisionShape::ShapeType Type)
        { return Type == Mezzanine::Physics::CollisionShape::ST_DynamicTriMesh; }
}

namespace Mezzanine
{
    namespace Physics
    {
/*
/// @cond DontDocumentInternal
        ///////////////////////////////////////////////////////////////////////////////
        // ScalingShape Methods

        ///////////////////////////////////////////////////////////////////////////////
        /// @class ScalingShape
        /// @brief This is a custom scaling shape that permits scaling specific to the object it is applied to.
        /// @details Scaling portion of a transform does not exist on RigidBodies in Bullet.  For an object to be
        /// scaled it has to be done on the collision shape.  However collision shapes can be shared and if they are
        /// it would scale all other objects it is shared with as well.  This shape is a simple scaling wrapper for
        /// collision shapes that can be created just for a single object that allows re-use and sharing of
        /// collision shapes when scaling them for different objects. @n @n
        /// Bullet does have another scaling shape built in for different types of shapes.  GImpact lacks one, but
        /// BVHTriangleMesh have an appropriate wrapper.  All the collision shapes under the Convex branch of the
        /// inheritance tree have another that only applies custom scaling uniformly on all axes.  This is
        /// unacceptable and one that allows independant scaling on each axis is needed.  That is where this class
        /// comes in.
        ///////////////////////////////////////
        ATTRIBUTE_ALIGNED16(class) MEZZ_LIB ScalingShape : public btConvexShape
        {
        protected:
            /// @brief The actual data in bullet this represents
            btConvexShape* ChildConvexShape;

            /// @brief The actual data in bullet this represents
            btVector3 ChildScaling;
        public:
            /// @cond false
            BT_DECLARE_ALIGNED_ALLOCATOR();
            /// @endcond

            /// @brief Class constructor.
            ScalingShape(btConvexShape* ChildShape, const btVector3& Scaling) :
                ChildConvexShape(ChildShape),
                ChildScaling(Scaling)
                { this->m_shapeType = UNIFORM_SCALING_SHAPE_PROXYTYPE; }
            /// @brief Class destructor.
            virtual ~ScalingShape()
                {  }

            ///////////////////////////////////////////////////////////////////////////////
            // Configuration Methods

            /// @brief Sets the child shape to be scaled by this wrapper.
            virtual void SetChildShape(btConvexShape* ChildShape)
            {
                this->ChildConvexShape = ChildShape;
            }
            /// @brief Gets the child shape being scaled by this wrapper.
            virtual btConvexShape* GetChildShape() const
            {
                return this->ChildConvexShape;
            }
            /// @brief Sets the amount of scaling to be applied to the child shape.
            virtual void SetChildScaling(const btVector3& Scaling)
            {
                this->ChildScaling = Scaling;
            }
            /// @brief Gets the amount of scaling being applied to the child shape.
            virtual btVector3 GetChildScaling() const
            {
                return this->ChildScaling;
            }
            /// @brief Gets the serialization name of this shape.
            virtual const char* getName()const
            {
                return "UniformScalingShape";
            }

            ///////////////////////////////////////////////////////////////////////////////
            // Internal Transform Methods

            /// @brief No Idea.
            virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const
            {
                btVector3 tmpVertex;
                tmpVertex = this->ChildConvexShape->localGetSupportingVertexWithoutMargin(vec);
                return tmpVertex * this->ChildScaling;
            }
            /// @brief No Idea.
            virtual btVector3 localGetSupportingVertex(const btVector3& vec)const
            {
                btVector3 tmpVertex;
                btScalar ChildMargin = this->ChildConvexShape->getMargin();
                tmpVertex = this->ChildConvexShape->localGetSupportingVertexWithoutMargin(vec);
                return (tmpVertex * this->ChildScaling) + btVector3(ChildMargin,ChildMargin,ChildMargin);
            }
            /// @brief No Idea.
            virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
            {
                this->ChildConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors,supportVerticesOut,numVectors);
                for( int i = 0 ; i < numVectors ; i++ )
                {
                    supportVerticesOut[i] *= this->ChildScaling;
                }
            }
            /// @brief Calculates the local inertia for this shape and it's child shape.
            virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const
            {
                btVector3 tmpInertia;
                this->ChildConvexShape->calculateLocalInertia(mass,tmpInertia);
                inertia = tmpInertia * this->ChildScaling;
            }

            ///////////////////////////////////////////////////////////////////////////////
            // Inherited from btCollisionShape

            /// @brief Gets the AABB of this shape.
            virtual void getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
            {
                this->getAabbSlow(trans,aabbMin,aabbMax);
            }
            /// @brief Gets the AABB of this shape.
            virtual void getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
            {
                btVector3 _directions[] =
                {
                    btVector3( 1.,  0.,  0.),
                    btVector3( 0.,  1.,  0.),
                    btVector3( 0.,  0.,  1.),
                    btVector3( -1., 0.,  0.),
                    btVector3( 0., -1.,  0.),
                    btVector3( 0.,  0., -1.)
                };

                btVector3 _supporting[] =
                {
                    btVector3( 0., 0., 0.),
                    btVector3( 0., 0., 0.),
                    btVector3( 0., 0., 0.),
                    btVector3( 0., 0., 0.),
                    btVector3( 0., 0., 0.),
                    btVector3( 0., 0., 0.)
                };

                for( int i = 0 ; i < 6 ; i++ )
                {
                    _directions[i] = _directions[i] * t.getBasis();
                }

                this->batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);

                btVector3 aabbMin1(0,0,0),aabbMax1(0,0,0);
                for ( int i = 0; i < 3; ++i )
                {
                    aabbMax1[i] = t(_supporting[i])[i];
                    aabbMin1[i] = t(_supporting[i + 3])[i];
                }

                btVector3 marginVec(this->getMargin(),this->getMargin(),this->getMargin());
                // convert to local to scale
                aabbMin1 = ( aabbMin1 - t.getOrigin() ) * this->ChildScaling;
                aabbMax1 = ( aabbMax1 - t.getOrigin() ) * this->ChildScaling;

                aabbMin = ( aabbMin1 + t.getOrigin() ) - marginVec;
                aabbMax = ( aabbMax1 + t.getOrigin() ) + marginVec;
            }

            /// @brief Sets the scaling to be applied to the sharable/global child collision shape.
            virtual void setLocalScaling(const btVector3& scaling)
                { this->SetChildScaling(scaling); }
            /// @brief Gets the scaling being applied to the sharable/global child collision shape.
            virtual const btVector3& getLocalScaling() const
                { return this->ChildScaling; }
            /// @brief Sets the collision margin of the sharable/global child collision shape.
            virtual void setMargin(btScalar margin)
                { this->ChildConvexShape->setMargin(margin); }
            /// @brief Gets the collision margin of the sharable/global child collision shape.
            virtual btScalar getMargin() const
                { return this->ChildConvexShape->getMargin(); }
            /// @brief Gets the number of directions available for the first parameter in "getPreferredPenetrationDirection".
            virtual int getNumPreferredPenetrationDirections() const
                { return this->ChildConvexShape->getNumPreferredPenetrationDirections(); }
            /// @brief Gets the direction objects should follow for penetration recovery at the specified index.
            virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
                { this->ChildConvexShape->getPreferredPenetrationDirection(index,penetrationVector); }
        };//ScalingShape
/// @endcond
// */
        ///////////////////////////////////////////////////////////////////////////////
        // CollidableProxy Methods

        CollidableProxy::CollidableProxy(PhysicsManager* Creator) :
            //BodyScale(1,1,1),
            ProxyShape(NULL),
            ScalerShape(NULL),
            Manager(Creator),
            CollisionGroup(Physics::CF_GenericFilter),
            CollisionMask(Physics::CF_AllFilter)
            {  }

        CollidableProxy::CollidableProxy(const UInt32 ID, PhysicsManager* Creator) :
            WorldProxy(ID),
            //BodyScale(1,1,1),
            ProxyShape(NULL),
            ScalerShape(NULL),
            Manager(Creator),
            CollisionGroup(Physics::CF_GenericFilter),
            CollisionMask(Physics::CF_AllFilter)
            {  }

        CollidableProxy::~CollidableProxy()
            {  }

        void CollidableProxy::ProtoSerializeImpl(XML::Node& SelfRoot) const
        {
            this->WorldProxy::ProtoSerializeImpl(SelfRoot);
            this->ProtoSerializeShape(SelfRoot);
        }

        void CollidableProxy::ProtoDeSerializeImpl(const XML::Node& SelfRoot)
        {
            this->WorldProxy::ProtoDeSerializeImpl(SelfRoot);
            this->ProtoDeSerializeShape(SelfRoot);
        }

        ///////////////////////////////////////////////////////////////////////////////
        // Utility

        AxisAlignedBox CollidableProxy::GetAABB() const
            { return ( this->IsInWorld() ? AxisAlignedBox( Vector3( this->_GetBasePhysicsObject()->getBroadphaseHandle()->m_aabbMin ), Vector3( this->_GetBasePhysicsObject()->getBroadphaseHandle()->m_aabbMax ) ) : AxisAlignedBox() ); }

        Boole CollidableProxy::IsInWorld() const
            { return ( this->_GetBasePhysicsObject()->getBroadphaseHandle() != NULL ); }

        WorldManager* CollidableProxy::GetCreator() const
            { return this->Manager; }

        ///////////////////////////////////////////////////////////////////////////////
        // Collision Settings

        void CollidableProxy::SetCollisionGroupAndMask(const Int16 Group, const Int16 Mask)
        {
            this->CollisionGroup = Group;
            this->CollisionMask = Mask;
        }

        void CollidableProxy::SetCollisionGroup(const Int16 Group)
            { this->CollisionGroup = Group; }

        void CollidableProxy::SetCollisionMask(const Int16 Mask)
            { this->CollisionMask = Mask; }

        Int16 CollidableProxy::GetCollisionGroup() const
            { return this->CollisionGroup; }

        Int16 CollidableProxy::GetCollisionMask() const
            { return this->CollisionMask; }

        void CollidableProxy::SetCollisionShape(CollisionShape* Shape)
        {
            if( this->ProxyShape != Shape )
            {
                /*if( Shape != NULL )
                {
                    switch( Shape->GetType() )
                    {
                        // All the basic convex shapes
                        case CollisionShape::ST_Box:
                        case CollisionShape::ST_Capsule:
                        case CollisionShape::ST_Cone:
                        case CollisionShape::ST_ConvexHull:
                        case CollisionShape::ST_Cylinder:
                        case CollisionShape::ST_MultiSphere:
                        case CollisionShape::ST_Sphere:
                        {
                            btConvexShape* ScaledShape = static_cast<btConvexShape*>( Shape->_GetInternalShape() );
                            if( this->ScalerShape == NULL ) {
                                this->ScalerShape = new ScalingShape( ScaledShape, this->BodyScale.GetBulletVector3() );
                            }else{
                                static_cast<Physics::ScalingShape*>( this->ScalerShape )->SetChildShape( ScaledShape );
                            }
                            this->_GetBasePhysicsObject()->setCollisionShape( this->ScalerShape );
                            break;
                        }
                        // The static bvh trimesh
                        case CollisionShape::ST_StaticTriMesh:
                        {
                            btBvhTriangleMeshShape* ScaledShape = static_cast<btBvhTriangleMeshShape*>( Shape->_GetInternalShape() );
                            if( this->ScalerShape == NULL ) {
                                this->ScalerShape = new btScaledBvhTriangleMeshShape( ScaledShape, this->BodyScale.GetBulletVector3() );
                            }else{
                                this->ScalerShape->setLocalScaling( this->BodyScale.GetBulletVector3() );
                            }
                            this->_GetBasePhysicsObject()->setCollisionShape( this->ScalerShape );
                            break;
                        }
                        // No idea what to do about compound shapes
                        case CollisionShape::ST_Compound:
                        // GImpact doesn't have anything to give it per object scaling
                        case CollisionShape::ST_DynamicTriMesh:
                        // These shapes are either specifically tailored to the object or just don't make sense to scale
                        case CollisionShape::ST_Heightfield:
                        case CollisionShape::ST_Plane:
                        case CollisionShape::ST_Soft:
                        default:
                        {
                            if( this->ScalerShape != NULL ) {
                                delete this->ScalerShape;
                                this->ScalerShape = NULL;
                            }
                            this->_GetBasePhysicsObject()->setCollisionShape( Shape->_GetInternalShape() );
                            break;
                        }
                    }
                    this->ProxyShape = Shape;
                }else{
                    if( this->ScalerShape != NULL ) {
                        delete this->ScalerShape;
                        this->ScalerShape = NULL;
                    }
                    this->ProxyShape = NULL;
                }// */

                this->ProxyShape = Shape;
                this->_GetBasePhysicsObject()->setCollisionShape( this->ProxyShape->_GetInternalShape() );

                // Gotta flicker to update the AABB appropriately
                if( this->IsInWorld() ) {
                    this->RemoveFromWorld();
                    this->AddToWorld();
                }
            }
        }

        CollisionShape* CollidableProxy::GetCollisionShape() const
        {
            return this->ProxyShape;
        }

        void CollidableProxy::SetCollisionResponse(Boole Enable)
        {
            if( Enable != this->GetCollisionResponse() )
            {
                btCollisionObject* Base = this->_GetBasePhysicsObject();
                if( Enable ) {
                    Base->setCollisionFlags( Base->getCollisionFlags() & ~btCollisionObject::CF_NO_CONTACT_RESPONSE );
                }else{
                    Base->setCollisionFlags( Base->getCollisionFlags() | btCollisionObject::CF_NO_CONTACT_RESPONSE );
                }
            }
        }

        Boole CollidableProxy::GetCollisionResponse() const
            { return !(this->_GetBasePhysicsObject()->getCollisionFlags() & btCollisionObject::CF_NO_CONTACT_RESPONSE); }

        void CollidableProxy::SetCollisionFlags(const Whole Flags)
            { this->_GetBasePhysicsObject()->setCollisionFlags(Flags); }

        Whole CollidableProxy::GetCollisionFlags() const
            { return this->_GetBasePhysicsObject()->getCollisionFlags(); }

        ///////////////////////////////////////////////////////////////////////////////
        // Static or Kinematic Properties

        void CollidableProxy::SetKinematic()
        {
            btCollisionObject* Base = this->_GetBasePhysicsObject();
            Base->setCollisionFlags( Base->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT );
        }

        void CollidableProxy::SetStatic()
        {
            btCollisionObject* Base = this->_GetBasePhysicsObject();
            Base->setCollisionFlags( Base->getCollisionFlags() | btCollisionObject::CF_STATIC_OBJECT );
        }

        Boole CollidableProxy::IsKinematic() const
            { return this->_GetBasePhysicsObject()->isKinematicObject(); }

        Boole CollidableProxy::IsStatic() const
            { return this->_GetBasePhysicsObject()->isStaticObject(); }

        Boole CollidableProxy::IsStaticOrKinematic() const
            { return this->_GetBasePhysicsObject()->isStaticOrKinematicObject(); }

        ///////////////////////////////////////////////////////////////////////////////
        // Physics Properties

        void CollidableProxy::SetFriction(const Real Friction)
            { this->_GetBasePhysicsObject()->setFriction(Friction); }

        Real CollidableProxy::GetFriction() const
            { return this->_GetBasePhysicsObject()->getFriction(); }

        void CollidableProxy::SetRollingFriction(const Real Friction)
            { this->_GetBasePhysicsObject()->setRollingFriction(Friction); }

        Real CollidableProxy::GetRollingFriction() const
            { return this->_GetBasePhysicsObject()->getRollingFriction(); }

        void CollidableProxy::SetAnisotropicFriction(const Vector3& Friction, const Whole Mode)
            { this->_GetBasePhysicsObject()->setAnisotropicFriction(Friction.GetBulletVector3(),Mode); }

        Physics::AnisotropicFrictionFlags CollidableProxy::GetAnisotropicFrictionMode() const
        {
            if( this->IsAnisotropicFrictionModeSet(Physics::AFF_AnisotropicFrictionDisabled) )
                return Physics::AFF_AnisotropicFrictionDisabled;
            if( this->IsAnisotropicFrictionModeSet(Physics::AFF_AnisotropicFriction) )
                return Physics::AFF_AnisotropicFriction;
            if( this->IsAnisotropicFrictionModeSet(Physics::AFF_AnisotropicRollingFriction) )
                return Physics::AFF_AnisotropicRollingFriction;

            return Physics::AFF_AnisotropicFrictionDisabled;
        }

        Boole CollidableProxy::IsAnisotropicFrictionModeSet(const Whole Mode) const
            { return this->_GetBasePhysicsObject()->hasAnisotropicFriction(Mode); }

        Vector3 CollidableProxy::GetAnisotropicFriction() const
            { return Vector3( this->_GetBasePhysicsObject()->getAnisotropicFriction() ); }

        void CollidableProxy::SetRestitution(const Real& Restitution)
            { this->_GetBasePhysicsObject()->setRestitution(Restitution); }

        Real CollidableProxy::GetRestitution() const
            { return this->_GetBasePhysicsObject()->getRestitution(); }

        ///////////////////////////////////////////////////////////////////////////////
        // Activation State

        void CollidableProxy::SetActivationState(const Physics::ActivationState State, Boole Force)
        {
            if(Force) this->_GetBasePhysicsObject()->forceActivationState(State);
            else this->_GetBasePhysicsObject()->setActivationState(State);
        }

        Physics::ActivationState CollidableProxy::GetActivationState() const
            { return static_cast<Physics::ActivationState>( this->_GetBasePhysicsObject()->getActivationState() ); }

        Boole CollidableProxy::IsActive() const
            { return this->_GetBasePhysicsObject()->isActive(); }

        void CollidableProxy::SetDeactivationTime(const Real Time)
            { this->_GetBasePhysicsObject()->setDeactivationTime(Time); }

        Real CollidableProxy::GetDeactivationTime() const
            { return this->_GetBasePhysicsObject()->getDeactivationTime(); }

        ///////////////////////////////////////////////////////////////////////////////
        // Transform Methods

        void CollidableProxy::SetLocation(const Vector3& Loc)
        {
            this->SetLocation(Loc.X,Loc.Y,Loc.Z);
        }

        void CollidableProxy::SetLocation(const Real X, const Real Y, const Real Z)
        {
            btVector3 NewLoc(X,Y,Z);
            this->_GetBasePhysicsObject()->getWorldTransform().setOrigin(NewLoc);
            this->_GetBasePhysicsObject()->getInterpolationWorldTransform().setOrigin(NewLoc);
        }

        Vector3 CollidableProxy::GetLocation() const
        {
            return Vector3( this->_GetBasePhysicsObject()->getWorldTransform().getOrigin() );
        }

        void CollidableProxy::SetOrientation(const Quaternion& Ori)
        {
            this->SetOrientation(Ori.X,Ori.Y,Ori.Z,Ori.W);
        }

        void CollidableProxy::SetOrientation(const Real X, const Real Y, const Real Z, const Real W)
        {
            btQuaternion NewRot(X,Y,Z,W);
            this->_GetBasePhysicsObject()->getWorldTransform().setRotation(NewRot);
            this->_GetBasePhysicsObject()->getInterpolationWorldTransform().setRotation(NewRot);
        }

        Quaternion CollidableProxy::GetOrientation() const
        {
            return Quaternion( this->_GetBasePhysicsObject()->getWorldTransform().getRotation() );
        }

        void CollidableProxy::SetScale(const Vector3& Sc)
        {
            /*this->BodyScale = Sc;
            if( this->ScalerShape != NULL ) {
                this->ScalerShape->setLocalScaling(Sc.GetBulletVector3());
            }else*/ if( this->ProxyShape != NULL ) {
                this->ProxyShape->SetScaling(Sc);
            }
        }

        void CollidableProxy::SetScale(const Real X, const Real Y, const Real Z)
        {
            this->SetScale( Vector3(X,Y,Z) );
        }

        Vector3 CollidableProxy::GetScale() const
        {
            return this->ProxyShape->GetScaling();//this->BodyScale;
        }

        void CollidableProxy::Translate(const Vector3& Trans)
        {
            this->SetLocation( this->GetLocation() + Trans );
        }

        void CollidableProxy::Translate(const Real X, const Real Y, const Real Z)
        {
            Vector3 Trans(X,Y,Z);
            this->SetLocation( this->GetLocation() + Trans );
        }

        void CollidableProxy::Yaw(const Real Angle)
        {
            Quaternion NewRot = this->GetOrientation() * Quaternion(Angle,Vector3::Unit_Y());
            this->SetOrientation(NewRot);
        }

        void CollidableProxy::Pitch(const Real Angle)
        {
            Quaternion NewRot = this->GetOrientation() * Quaternion(Angle,Vector3::Unit_X());
            this->SetOrientation(NewRot);
        }

        void CollidableProxy::Roll(const Real Angle)
        {
            Quaternion NewRot = this->GetOrientation() * Quaternion(Angle,Vector3::Unit_Z());
            this->SetOrientation(NewRot);
        }

        void CollidableProxy::Rotate(const Vector3& Axis, const Real Angle)
        {
            Quaternion NewRot = this->GetOrientation() * Quaternion(Angle,Axis);
            this->SetOrientation(NewRot);
        }

        void CollidableProxy::Rotate(const Quaternion& Rotation)
        {
            Quaternion NewRot = this->GetOrientation() * Rotation;
            this->SetOrientation(NewRot);
        }

        void CollidableProxy::Scale(const Vector3& Scale)
        {
            Vector3 NewScale = this->GetScale() * Scale;
            this->SetScale(NewScale);
        }

        void CollidableProxy::Scale(const Real X, const Real Y, const Real Z)
        {
            Vector3 NewScale = this->GetScale() * Vector3(X,Y,Z);
            this->Scale(NewScale);
        }

        ///////////////////////////////////////////////////////////////////////////////
        // Serialization

        void CollidableProxy::ProtoSerializeProperties(XML::Node& SelfRoot) const
        {
            this->WorldProxy::ProtoSerializeProperties(SelfRoot);

            XML::Node PropertiesNode = SelfRoot.AppendChild( CollidableProxy::GetSerializableName() + "Properties" );

            if( PropertiesNode.AppendAttribute("Version").SetValue("1") &&
                PropertiesNode.AppendAttribute("CollisionGroup").SetValue( this->GetCollisionGroup() ) &&
                PropertiesNode.AppendAttribute("CollisionMask").SetValue( this->GetCollisionMask() ) &&
                PropertiesNode.AppendAttribute("CollisionFlags").SetValue( this->GetCollisionFlags() ) &&
                PropertiesNode.AppendAttribute("Friction").SetValue( this->GetFriction() ) &&
                PropertiesNode.AppendAttribute("RollingFriction").SetValue( this->GetRollingFriction() ) &&
                PropertiesNode.AppendAttribute("AnisotropicFrictionMode").SetValue( this->GetAnisotropicFrictionMode() ) &&
                PropertiesNode.AppendAttribute("Restitution").SetValue( this->GetRestitution() ) &&
                PropertiesNode.AppendAttribute("ActivationState").SetValue( static_cast<Whole>( this->GetActivationState() ) ) &&
                PropertiesNode.AppendAttribute("DeactivationTime").SetValue( this->GetDeactivationTime() ) &&
                PropertiesNode.AppendAttribute("ContactProcessingThreshold").SetValue( this->_GetContactProcessingThreshold() ) )
            {
                XML::Node AnisotropicFrictionNode = PropertiesNode.AppendChild("AnisotropicFriction");
                this->GetAnisotropicFriction().ProtoSerialize( AnisotropicFrictionNode );

                return;
            }else{
                SerializeError("Create XML Attribute Values",CollidableProxy::GetSerializableName() + "Properties",true);
            }
        }

        void CollidableProxy::ProtoSerializeShape(XML::Node& SelfRoot) const
        {
            XML::Node ShapeNode = SelfRoot.AppendChild( CollidableProxy::GetSerializableName() + "Shape" );

            if( ShapeNode.AppendAttribute("Version").SetValue("1") &&
                ShapeNode.AppendAttribute("ProxyShape").SetValue( this->ProxyShape->GetName() ) )
            {
                return;
            }else{
                SerializeError("Create XML Attribute Values",CollidableProxy::GetSerializableName() + "Shape",true);
            }
        }

        void CollidableProxy::ProtoDeSerializeProperties(const XML::Node& SelfRoot)
        {
            this->WorldProxy::ProtoDeSerializeProperties(SelfRoot);

            XML::Attribute CurrAttrib;
            XML::Node PropertiesNode = SelfRoot.GetChild( CollidableProxy::GetSerializableName() + "Properties" );

            if( !PropertiesNode.Empty() ) {
                if(PropertiesNode.GetAttribute("Version").AsInt() == 1) {
                    Whole AFMode = 0;

                    CurrAttrib = PropertiesNode.GetAttribute("CollisionGroup");
                    if( !CurrAttrib.Empty() )
                        this->SetCollisionGroup( CurrAttrib.AsWhole() );

                    CurrAttrib = PropertiesNode.GetAttribute("CollisionMask");
                    if( !CurrAttrib.Empty() )
                        this->SetCollisionMask( CurrAttrib.AsWhole() );

                    CurrAttrib = PropertiesNode.GetAttribute("CollisionFlags");
                    if( !CurrAttrib.Empty() )
                        this->SetCollisionFlags( CurrAttrib.AsWhole() );

                    CurrAttrib = PropertiesNode.GetAttribute("Friction");
                    if( !CurrAttrib.Empty() )
                        this->SetFriction( CurrAttrib.AsReal() );

                    CurrAttrib = PropertiesNode.GetAttribute("RollingFriction");
                    if( !CurrAttrib.Empty() )
                        this->SetRollingFriction( CurrAttrib.AsReal() );

                    CurrAttrib = PropertiesNode.GetAttribute("AnisotropicFrictionMode");
                    if( !CurrAttrib.Empty() )
                        AFMode = CurrAttrib.AsWhole();

                    CurrAttrib = PropertiesNode.GetAttribute("Restitution");
                    if( !CurrAttrib.Empty() )
                        this->SetRestitution( CurrAttrib.AsReal() );

                    CurrAttrib = PropertiesNode.GetAttribute("ActivationState");
                    if( !CurrAttrib.Empty() )
                        this->SetActivationState( static_cast<Physics::ActivationState>( CurrAttrib.AsWhole() ) );

                    CurrAttrib = PropertiesNode.GetAttribute("DeactivationTime");
                    if( !CurrAttrib.Empty() )
                        this->SetDeactivationTime( CurrAttrib.AsReal() );

                    CurrAttrib = PropertiesNode.GetAttribute("ContactProcessingThreshold");
                    if( !CurrAttrib.Empty() )
                        this->_SetContactProcessingThreshold( CurrAttrib.AsReal() );

                    // Get the properties that need their own nodes
                    XML::Node AnisotropicFrictionNode = PropertiesNode.GetChild("AnisotropicFriction").GetFirstChild();
                    if( !AnisotropicFrictionNode.Empty() ) {
                        Vector3 AF(AnisotropicFrictionNode);
                        this->SetAnisotropicFriction(AF,AFMode);
                    }
                }else{
                    MEZZ_EXCEPTION(ExceptionBase::INVALID_VERSION_EXCEPTION,"Incompatible XML Version for " + (CollidableProxy::GetSerializableName() + "Properties" ) + ": Not Version 1.");
                }
            }else{
                MEZZ_EXCEPTION(ExceptionBase::II_IDENTITY_NOT_FOUND_EXCEPTION,CollidableProxy::GetSerializableName() + "Properties" + " was not found in the provided XML node, which was expected.");
            }
        }

        void CollidableProxy::ProtoDeSerializeShape(const XML::Node& SelfRoot)
        {
            XML::Attribute CurrAttrib;
            XML::Node ShapeNode = SelfRoot.GetChild( CollidableProxy::GetSerializableName() + "Shape" );

            if( !ShapeNode.Empty() ) {
                if(ShapeNode.GetAttribute("Version").AsInt() == 1) {
                    CurrAttrib = ShapeNode.GetAttribute("ProxyShape");
                    if( !CurrAttrib.Empty() ) {
                        CollisionShape* Shape = CollisionShapeManager::GetSingletonPtr()->GetShape( CurrAttrib.AsString() );
                        this->SetCollisionShape( Shape );
                    }
                }
            }
        }

        String CollidableProxy::GetDerivedSerializableName() const
            { return CollidableProxy::GetSerializableName(); }

        String CollidableProxy::GetSerializableName()
            { return "CollidableProxy"; }

        ///////////////////////////////////////////////////////////////////////////////
        // Internal Methods

        Integer CollidableProxy::_GetBroadphaseUniqueID() const
            { return ( this->IsInWorld() ? this->_GetBasePhysicsObject()->getBroadphaseHandle()->m_uniqueId : 0 ); }

        void CollidableProxy::_SetContactProcessingThreshold(const Real Threshold)
            { this->_GetBasePhysicsObject()->setContactProcessingThreshold(Threshold); }

        Real CollidableProxy::_GetContactProcessingThreshold() const
            { return this->_GetBasePhysicsObject()->getContactProcessingThreshold(); }
    }// Physics
}// Mezzanine

#endif