FF3DDiscForceModel.h

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/*
 * This file is part of Micole Architecture
 *
 * Copyright (C) 2007 Micole partners
 *
 * Micole Architecture is free software: you can redistribute it 
 * and/or modify it under the terms of the GNU Lesser General 
 * Public License as published by the Free Software Foundation, 
 * either version 3 of the License, or (at your option) any 
 * later version.
 *
 * Micole Architecture 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 GNU Lesser General Public License for more 
 * details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with Micole Architecture.  If not, see
 * <http://www.gnu.org/licenses/>.
 */

#ifndef FF3DDiscForceModel_H
#define FF3DDiscForceModel_H
#include "micolelib.h"

#include "FF3DForceModel.h"
#include <LinearAlgebra.h>
using namespace Reachin;

struct MICOLELIB_API FF3DDiscForceModel : FF3DForceModel
{
        mgFloat _stiffness; 

        Vec3f _pt1;
        Vec3f _pt2;
        Vec3f _pt3;

        mgFloat _range;

        FF3DDiscForceModel(const Vec3f &pt1, const Vec3f &pt2, const mgFloat &pRange, const mgFloat &stiffness = 800);
        FF3DDiscForceModel (const FF3DDiscForceModel& fm);

        virtual FF3DForceModel * clone() {return new FF3DDiscForceModel(*this); }

        virtual Vec3f evaluate( const Vec3f &pPos, const mgFloat &w )
        {
                        //planar evaluation
                        Vec3f pos = pPos; //duplicate original pos
                        pos.x = 0; //ignore y pos
                        pos.z = 0; //ignore y pos
                    Vec3f diff = Vec3f(0,0,0) - pos; 
                        diff.x = 0; //only for linear
                        diff.z = 0; //only for planar
                        //return diff; 

                        //sphere evaluation
                    Vec3f diff2 = Vec3f(0,0,0) - pPos; 
                        //diff.x = 0; //only for linear
                        //diff.z = 0; //only for planar
                        if (diff2.length()< _range)  
                                diff2 = Vec3f(0,0,0);
                        else
                        {
                                Vec3f normaldiff = diff2;
                                normaldiff.normalizeSafe();
                                
                                diff2 = (diff2-(_range * normaldiff)); 
                        }

                        //combination of two effects
                        diff2.y = diff.y;

                        return (_stiffness * diff2);
        }
};

#endif

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