include/IPSA/SoJointAMotor.h

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#ifndef IPSA_SOJOINT_A_MOTOR_H
#define IPSA_SOJOINT_A_MOTOR_H
/*
 * Copyright (c) 2004, University of Braunschweig (for members see AUTHORS file)
 * Copyright (c) 2007, 2008, 2009, University of Karlsruhe (for members see AUTHORS file)
 * Copyright (c) 2011, Karlsruhe Institute of Technology (for members see AUTHORS file)
 *
 * ISC License
 *
 * Permission to use, copy, modify, and/or distribute this software for any
 * purpose with or without fee is hereby granted, provided that the above
 * copyright notice and this permission notice appear in all copies.
 *
 * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
 * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
 * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
 * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
 * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
 * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
 * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
 */

#include "IPSA.h"
#include "SoJoint.h"

#include <Inventor/fields/SoMFVec3f.h>
#include <Inventor/fields/SoSFVec3f.h>
#include <Inventor/fields/SoMFFloat.h>
#include <Inventor/fields/SoSFInt32.h>
#include <Inventor/fields/SoMFInt32.h>

class IPSA_IMPORT_EXPORT SoJointAMotor : public SoJoint
{
SO_KIT_HEADER(SoJointAMotor);

public:
    SoJointAMotor(const SbString& BodyOne = "", const SbString& BodyTwo = "", const SbString& nodeName = "");

    static void initClass();

    virtual void setParams();

    virtual void setTorque(dReal torque1 = 0.0f, dReal torque2 = 0.0f, dReal torque3 = 0.0f);

    enum MotorMode {
        eMMUserMode = 0,
        eMMEulerMode = 1
    };

    SoSFInt32 soNumberAxes;
    SoSFInt32 soMotorMode;
    SoMFVec3f soAxis;
    SoMFVec3f soAngle;
    SoSFVec3f soTorque;
    SoMFInt32 soRelativeOrientation;

    SoSFFloat LoStop;
    SoSFFloat HiStop;
    SoSFFloat Velocity;
    SoSFFloat MaxForce;
    SoSFFloat FudgeFactor;
    SoSFFloat Bounce;
    SoSFFloat CFM;
    SoSFFloat StopERP;
    SoSFFloat StopCFM;
    SoSFFloat SuspensionERP;
    SoSFFloat SuspensionCFM;

    SoSFFloat LoStop2;
    SoSFFloat HiStop2;
    SoSFFloat Velocity2;
    SoSFFloat MaxForce2;
    SoSFFloat FudgeFactor2;
    SoSFFloat Bounce2;
    SoSFFloat CFM2;
    SoSFFloat StopERP2;
    SoSFFloat StopCFM2;
    SoSFFloat SuspensionERP2;
    SoSFFloat SuspensionCFM2;

    SoSFFloat LoStop3;
    SoSFFloat HiStop3;
    SoSFFloat Velocity3;
    SoSFFloat MaxForce3;
    SoSFFloat FudgeFactor3;
    SoSFFloat Bounce3;
    SoSFFloat CFM3;
    SoSFFloat StopERP3;
    SoSFFloat StopCFM3;
    SoSFFloat SuspensionERP3;
    SoSFFloat SuspensionCFM3;

protected:
    virtual void createOdeJoint(const dWorldID soWorldId);
    virtual void updateOdeJointProperties(const SbMatrix& modelMatrix);
    virtual SoNode* createVisualisation();

    float initVelocity[3];
    float initMaxForce[3];
    SbVec3f initTorque;
};

#endif

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