FF3DPointForceModel.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 FF3DPOINTFORCEMODEL_H
#define FF3DPOINTFORCEMODEL_H
#include "micolelib.h"

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

struct MICOLELIB_API FF3DPointForceModel : FF3DForceModel
{
        mgFloat _stiffness; 
        Playback* _pb;
        
        Vec3f _stick_point;


        FF3DPointForceModel(Playback* pb, const Vec3f &, const mgFloat &stiffness = STIFFNESS);
        FF3DPointForceModel(Playback* pb, const FF3DPointForceModel &fm);
        

        virtual FF3DForceModel * clone() { return new FF3DPointForceModel(*this); }

        virtual Vec3f evaluate( const Vec3f &pos, const mgFloat &w ) 
        {
                Vec3f diff = _stick_point - pos;
                _pb->stickToPointAndGetForce(pos, _stick_point, _oldForce);
                return _oldForce;
                //fprintf(log, "%f, %f, %f, %f, %f, %f, %f, %f\n", pos.x, pos.y, pos.z, _stick_point.x, _stick_point.y, _stick_point.z);
/*              diff = _stiffness * diff;
                fprintf(log, "%f, %f, %f\n", diff.x, diff.y, diff.z);
                return diff;*/

                //diff.x = 0; only for linear
                //_oldForce= (_oldForce*0.95)+ (_stiffness * diff)*0.05; 
                //return _oldForce;
        //      return _stiffness * diff;
        }
};

#endif

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