AccelerationSensor.cpp

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/*************************************************************************
 *                                                                       *
 * Open Physics Abstraction Layer                                        *
 * Copyright (C) 2004-2005                                               *
 * Alan Fischer  alan.fischer@gmail.com                                  *
 * Andres Reinot  andres@reinot.com                                      *
 * Tyler Streeter  tylerstreeter@gmail.com                               *
 * All rights reserved.                                                  *
 * Web: opal.sourceforge.net                                             *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file license-LGPL.txt.                                          *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file license-BSD.txt.                                       *
 *                                                                       *
 * This library 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 files    *
 * license-LGPL.txt and license-BSD.txt for more details.                *
 *                                                                       *
 *************************************************************************/

#include "AccelerationSensor.h"
#include "Simulator.h"

namespace opal
{
        AccelerationSensor::AccelerationSensor(Simulator* s)
        {
                // "mData" is initialized in its own constructor.
                mSim = s;

                // "mCurrentGlobalLinearVel" is initialized in its own constructor.
                // "mCurrentGlobalAngularVel" is initialized in its own constructor.
                // "mCurrentLocalLinearVel" is initialized in its own constructor.
                // "mCurrentLocalAngularVel" is initialized in its own constructor.

                // "mPrevGlobalLinearVel" is initialized in its own constructor.
                // "mPrevGlobalAngularVel" is initialized in its own constructor.
                // "mPrevLocalLinearVel" is initialized in its own constructor.
                // "mPrevLocalAngularVel" is initialized in its own constructor.
        }

        AccelerationSensor::~AccelerationSensor()
        {
        }

        void AccelerationSensor::init(const AccelerationSensorData& data)
        {
                Sensor::init();
                mData = data;
        }

        const AccelerationSensorData& AccelerationSensor::getData()const
        {
                return mData;
        }

        Vec3r AccelerationSensor::getGlobalLinearAccel()const
        {
                if (!mData.enabled || !mData.solid)
                {
                        return Vec3r();
                }

                return (mCurrentGlobalLinearVel - mPrevGlobalLinearVel) / 
                        mSim->getStepSize();
        }

        Vec3r AccelerationSensor::getGlobalAngularAccel()const
        {
                if (!mData.enabled || !mData.solid)
                {
                        return Vec3r();
                }

                return (mCurrentGlobalAngularVel - mPrevGlobalAngularVel) / 
                        mSim->getStepSize();
        }

        Vec3r AccelerationSensor::getLocalLinearAccel()const
        {
                if (!mData.enabled || !mData.solid)
                {
                        return Vec3r();
                }

                return (mCurrentLocalLinearVel - mPrevLocalLinearVel) / 
                        mSim->getStepSize();
        }

        Vec3r AccelerationSensor::getLocalAngularAccel()const
        {
                if (!mData.enabled || !mData.solid)
                {
                        return Vec3r();
                }

                return (mCurrentLocalAngularVel - mPrevLocalAngularVel) / 
                        mSim->getStepSize();
        }

        void AccelerationSensor::setEnabled(bool e)
        {
                //if (!mInitCalled)
                //{
                //      return;
                //}

                mData.enabled = e;
        }

        bool AccelerationSensor::isEnabled()const
        {
                return mData.enabled;
        }

        SensorType AccelerationSensor::getType()const
        {
                return mData.getType();
        }

        void AccelerationSensor::setTransform(const Matrix44r& t)
        {
                mData.transform = t;
        }

        const Matrix44r& AccelerationSensor::getTransform()const
        {
                return mData.transform;
        }

        void AccelerationSensor::setName(const std::string& name)
        {
                mData.name = name;
        }

        const std::string& AccelerationSensor::getName()const
        {
                return mData.name;
        }

        void AccelerationSensor::internal_update()
        {
                if (mData.enabled && mData.solid)
                {
                        mPrevGlobalLinearVel = mCurrentGlobalLinearVel;
                        mPrevGlobalAngularVel = mCurrentGlobalAngularVel;
                        mPrevLocalLinearVel = mCurrentLocalLinearVel;
                        mPrevLocalAngularVel = mCurrentLocalAngularVel;

                        mCurrentGlobalLinearVel = 
                                mData.solid->getGlobalLinearVel();
                        mCurrentGlobalAngularVel = 
                                mData.solid->getGlobalAngularVel();
                        mCurrentLocalLinearVel = 
                                mData.solid->getLocalLinearVel();
                        mCurrentLocalAngularVel = 
                                mData.solid->getLocalAngularVel();
                }
        }

        bool AccelerationSensor::internal_dependsOnSolid(Solid* s)
        {
                if (s == mData.solid)
                {
                        return true;
                }
                else
                {
                        return false;
                }
        }
}

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