GearedMotor.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 "GearedMotor.h"
#include "Joint.h"

namespace opal
{
        GearedMotor::GearedMotor()
        : Motor()
        {
                // "mData" will be initialized in its own constructor.
        }

        GearedMotor::~GearedMotor()
        {
        }

        //void GearedMotor::init(Joint* joint, int axisNum)
        //{
        //      Motor::init();
        //      assert(joint->isRotational(axisNum));
        //      mJoint = joint;
        //      mJointAxisNum = axisNum;
        //}

        void GearedMotor::init(const GearedMotorData& data)
        {
                assert(data.joint);
                Motor::init();
                assert(data.joint->isRotational(data.jointAxisNum));
                mData = data;
        }

        const GearedMotorData& GearedMotor::getData()const
        {
                return mData;
        }

        MotorType GearedMotor::getType()const
        {
                return mData.getType();
        }

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

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

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

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

                mData.enabled = e;
        }

        void GearedMotor::internal_update()
        {
                if (mData.enabled && mData.joint)
                {
                        // Global/local direction makes no difference here since 
                        // we simply use the joint axis.

                        // TODO: Fix the following case: if throttle is zero, there 
                        // will be an opposing torque at any velocity.

                        real normalizedVel = 
                                mData.joint->getVelocity(mData.jointAxisNum) / 
                                mData.maxVelocity;
                        real magnitude = mData.maxTorque * (mData.throttle - 
                                normalizedVel);
                        mData.joint->addTorque(mData.jointAxisNum, magnitude, 0, true);
                }
        }

        void GearedMotor::setMaxTorque(real max)
        {
                mData.maxTorque = max;
        }

        real GearedMotor::getMaxTorque()const
        {
                return mData.maxTorque;
        }

        void GearedMotor::setMaxVelocity(real max)
        {
                assert(max != 0);
                mData.maxVelocity = max;
        }

        real GearedMotor::getMaxVelocity()const
        {
                return mData.maxVelocity;
        }

        void GearedMotor::setThrottle(real throttle)
        {
                assert(throttle >= -1.0 && throttle <= 1.0);
                mData.throttle = throttle;
        }

        real GearedMotor::getThrottle()const
        {
                return mData.throttle;
        }

        bool GearedMotor::internal_dependsOnJoint(Joint* j)
        {
                if (j == mData.joint)
                {
                        return true;
                }
                else
                {
                        return false;
                }
        }
}

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