source/SoJointSlider.cpp

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/*
 * Copyright (c) 2004, University of Braunschweig (for members see AUTHORS file)
 * Copyright (c) 2007, 2008, 2009, University of Karlsruhe (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 "../include/IPSA/SoJointSlider.h"
#include "../include/IPSA/SoPhysics.h"

#include <Inventor/nodes/SoCylinder.h>
#include <Inventor/nodes/SoTransform.h>
#include <Inventor/nodekits/SoShapeKit.h>
#include <Inventor/actions/SoCallbackAction.h>

SO_KIT_SOURCE(SoJointSlider);

void
SoJointSlider::initClass()
{
                SO_KIT_INIT_CLASS(SoJointSlider, SoJoint, "Joint");
}


SoJointSlider::SoJointSlider(const SbString& BodyOne, const SbString& BodyTwo, const SbString& nodeName)
: SoJoint(BodyOne,BodyTwo,nodeName)
{
                SO_KIT_CONSTRUCTOR(SoJointSlider);
                isBuiltIn = TRUE;

                SO_KIT_ADD_FIELD(soAxis,(0.0f,0.0f,0.0f));
                SO_KIT_ADD_FIELD(soForce, (0.0f));

                SO_KIT_ADD_FIELD(LoStop,(-dInfinity));
                SO_KIT_ADD_FIELD(HiStop,(dInfinity));
                SO_KIT_ADD_FIELD(Velocity,(0.0));
                SO_KIT_ADD_FIELD(MaxForce,(0.0));
                SO_KIT_ADD_FIELD(FudgeFactor,(1.0));
                SO_KIT_ADD_FIELD(Bounce,(0.0));
                SO_KIT_ADD_FIELD(CFM,(INIT_CFM));
                SO_KIT_ADD_FIELD(StopERP,(INIT_ERP));
                SO_KIT_ADD_FIELD(StopCFM,(INIT_CFM));

                SO_KIT_INIT_INSTANCE();

    updateOdeParametersTrigger.appendConnection(&LoStop);
    updateOdeParametersTrigger.appendConnection(&HiStop);
    updateOdeParametersTrigger.appendConnection(&Velocity);
    updateOdeParametersTrigger.appendConnection(&MaxForce);
    updateOdeParametersTrigger.appendConnection(&FudgeFactor);
    updateOdeParametersTrigger.appendConnection(&Bounce);
    updateOdeParametersTrigger.appendConnection(&CFM);
    updateOdeParametersTrigger.appendConnection(&StopERP);
    updateOdeParametersTrigger.appendConnection(&StopCFM);
}


void SoJointSlider::setForce(dReal force1 /*= 0.0f*/)
{
                dJointAddSliderForce(this->soJointId, force1);
}


void SoJointSlider::createOdeJoint(const dWorldID soWorldId)
{
    // save initial values
    initVelocity = Velocity.getValue();
    initMaxForce = MaxForce.getValue();
    initForce = soForce.getValue();

    soJointId = dJointCreateSlider(soWorldId, soJointGroupId);
}


void SoJointSlider::updateOdeJointProperties(const SbMatrix& modelMatrix)
{
    Velocity.setValue(initVelocity);
    MaxForce.setValue(initMaxForce);
    soForce.setValue(initForce);

    // get translation and rotation from coin
    // to rotate axis
    SbVec3f axisbase = soAxis.getValue();
    SbVec3f raxbase;

    SbMatrix mm = modelMatrix;
    mm.multDirMatrix(axisbase,raxbase);         // rotate axis: direction vector only

    dJointSetSliderAxis(this->soJointId, raxbase[0], raxbase[1], raxbase[2]);

    //add force
    dJointAddSliderForce(this->soJointId, initForce);
}


SoNode* SoJointSlider::createVisualisation()
{
                SoShapeKit* result = new SoShapeKit;

                SoCylinder* axis = new SoCylinder;
                axis->radius.setValue(30 / 5.0f);
                axis->height.setValue(30 * 6.0f);

                SoTransform* axisTransform = new SoTransform;
                SoJoint::GenerateCylinderAlignmentRotation(soAxis.getValue(), *axisTransform);

                result->setPart("shape", axis);
                result->setPart("transform", axisTransform);

                return result;
}


void SoJointSlider::setParams()
{
                dJointSetSliderParam(soJointId,dParamLoStop,LoStop.getValue());
                dJointSetSliderParam(soJointId,dParamHiStop,HiStop.getValue());
                dJointSetSliderParam(soJointId,dParamVel,Velocity.getValue());
                dJointSetSliderParam(soJointId,dParamFMax,MaxForce.getValue());
                dJointSetSliderParam(soJointId,dParamFudgeFactor,FudgeFactor.getValue());
                dJointSetSliderParam(soJointId,dParamBounce,Bounce.getValue());
                dJointSetSliderParam(soJointId,dParamCFM,CFM.getValue());
                dJointSetSliderParam(soJointId,dParamStopERP,StopERP.getValue());
                dJointSetSliderParam(soJointId,dParamStopCFM,StopCFM.getValue());
}


SoSFFloat SoJointSlider::getPosition()
{
                SoSFFloat ret;
                ret.setValue(dJointGetSliderPosition(this->soJointId));
                return ret;
}


SoSFFloat SoJointSlider::getPositionRate()
{
                SoSFFloat ret;
                ret.setValue(dJointGetSliderPositionRate(this->soJointId));
                return ret;
}

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