FF3DLinearForceModel.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 FF3DLinearForceModel_H
#define FF3DLinearForceModel_H
#include "micolelib.h"

#include <iostream>
#include "ReachinMicoleApplication.h"


#include "FF3DForceModel.h"
using namespace Reachin;
using namespace std;

struct MICOLELIB_API FF3DLinearForceModel : FF3DForceModel
{
        mgFloat _stiffness; 

        Vec3f _pt1;
        Vec3f _pt2;
        //Vec3f _oldForce;

        FF3DLinearForceModel(const Vec3f &pt1, const Vec3f &pt2, const mgFloat &stiffness = STIFFNESS);
        FF3DLinearForceModel (const FF3DLinearForceModel& fm);

        virtual FF3DForceModel * clone() { return new FF3DLinearForceModel(*this); }

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

                Vec3f force = _stiffness * diff;

                //test to avoid unhook of phantom

        
/*                      if ((force - _oldForce).length() > 0.5) {
                        
                        //_oldForce 
                        //s << "force: "<< force.length();
                        //s << " difference : " << (force - _oldForce).length();
                        //force.normalizeSafe();
                        //force=force*10; //max length unit
                        //s << " send force : " << force.length();
                        //ReachinMicoleApplication * ama = ReachinMicoleApplication::getInstance();
                        //ama->sendBusMessage(s.str().data());

                        //while ((force - _oldForce).length() > 0.3) 
                        while ((force-_oldForce).length() > 0.5) 
                        {
                                force = 0.9*force+_oldForce*0.1  ; //Vec3f(
                        }
                        
                }


                _oldForce = force;
                */              
                
                _oldForce = 0.7*_oldForce + 0.3* force;
                
                return _oldForce; 
                //return Vec3f(100,0,0);
        }
};

#endif

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