SpringMotorData.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_SPRING_MOTOR_DATA_H
#define OPAL_SPRING_MOTOR_DATA_H

#include "Defines.h"
#include "MotorData.h"

namespace opal
{
        enum SpringMotorMode
        {
                LINEAR_MODE,

                ANGULAR_MODE,

                LINEAR_AND_ANGULAR_MODE
        };

        class SpringMotorData : public MotorData
        {
        public:
                OPAL_DECL SpringMotorData()
                : MotorData()
                {
                        mType = SPRING_MOTOR;
                        solid = NULL;
                        internal_solidIndex = 0;
                        solidBlueprintRefName = "";
                        mode = LINEAR_MODE;
                        // "attachOffset" is initialized in its own constructor.
                        // "desiredPos" is initialized in its own constructor.
                        desiredForward = defaults::motor::spring::desiredForward;
                        desiredUp = defaults::motor::spring::desiredUp;
                        desiredRight = defaults::motor::spring::desiredRight;
                        linearKd = defaults::motor::spring::linearKd;
                        linearKs = defaults::motor::spring::linearKs;
                        angularKd = defaults::motor::spring::angularKd;
                        angularKs = defaults::motor::spring::angularKs;
                }

                OPAL_DECL SpringMotorData(const SpringMotorData& data)
                {
                        (*this) = data;
                }

                OPAL_DECL virtual ~SpringMotorData()
                {
                }

                OPAL_DECL virtual void OPAL_CALL operator=(
                        const SpringMotorData& data)
                {
                        mType = data.mType;
                        enabled = data.enabled;
                        name = data.name;
                        solid = data.solid;
                        internal_solidIndex = data.internal_solidIndex;
                        solidBlueprintRefName = data.solidBlueprintRefName;
                        mode = data.mode;
                        attachOffset = data.attachOffset;
                        desiredPos = data.desiredPos;
                        desiredForward = data.desiredForward;
                        desiredUp = data.desiredUp;
                        desiredRight = data.desiredRight;
                        linearKd = data.linearKd;
                        linearKs = data.linearKs;
                        angularKd = data.angularKd;
                        angularKs = data.angularKs;
                }

                Solid* solid;

                int internal_solidIndex;

                std::string solidBlueprintRefName;

                SpringMotorMode mode;

                Point3r attachOffset;

                Point3r desiredPos;

                Vec3r desiredForward;

                Vec3r desiredUp;

                Vec3r desiredRight;

                real linearKd;

                real linearKs;

                real angularKd;

                real angularKs;

        protected:

        private:
        };
}

#endif

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