AccelerationSensor.h

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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.                *
 *                                                                       *
 *************************************************************************/

#ifndef OPAL_ACCELERATION_SENSOR_H
#define OPAL_ACCELERATION_SENSOR_H

#include "Defines.h"
#include "Sensor.h"
#include "AccelerationSensorData.h"

namespace opal
{
        class Simulator;

        class AccelerationSensor : public Sensor
        {
        public:
                AccelerationSensor(Simulator* s);

                virtual ~AccelerationSensor();

                virtual void OPAL_CALL init(const AccelerationSensorData& data);

                virtual const AccelerationSensorData& OPAL_CALL getData()const;

                virtual Vec3r OPAL_CALL getGlobalLinearAccel()const;

                virtual Vec3r OPAL_CALL getGlobalAngularAccel()const;

                virtual Vec3r OPAL_CALL getLocalLinearAccel()const;

                virtual Vec3r OPAL_CALL getLocalAngularAccel()const;

                virtual void OPAL_CALL setEnabled(bool e);

                virtual bool OPAL_CALL isEnabled()const;

                virtual void OPAL_CALL setTransform(const Matrix44r& t);

                virtual const Matrix44r& OPAL_CALL getTransform()const;

                virtual SensorType OPAL_CALL getType()const;

                virtual void OPAL_CALL setName(const std::string& name);

                virtual const std::string& OPAL_CALL getName()const;

                virtual void OPAL_CALL internal_update();

                virtual bool OPAL_CALL internal_dependsOnSolid(Solid* s);

        protected:
                AccelerationSensorData mData;

                Simulator* mSim;

                Vec3r mCurrentGlobalLinearVel;

                Vec3r mCurrentGlobalAngularVel;

                Vec3r mCurrentLocalLinearVel;

                Vec3r mCurrentLocalAngularVel;

                Vec3r mPrevGlobalLinearVel;

                Vec3r mPrevGlobalAngularVel;

                Vec3r mPrevLocalLinearVel;

                Vec3r mPrevLocalAngularVel;

        private:
        };
}

#endif

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