Diff: rigidLoop.h

Revision:

0:df6fdd9b99f0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rigidLoop.h	Tue Dec 02 04:39:15 2014 +0000
@@ -0,0 +1,83 @@
+#ifndef RIGID_LOOP
+#define RIGID_LOOP
+
+// Include the basic objects to create the loop
+#include "soundSpot.h"
+#include "classPointMass.h" // this may be used to move the center of the RIGID loop in dynamically "real" ways
+#include "classSpring.h"    // same remark than above
+
+using namespace std;
+
+enum RigidLoopMode {SPOT_FOLLOWING,  SPOT_GHOST, SPOT_PACMAN, SPOT_AIR_HOCKEY, SPOT_LORENTZ_FORCE, 
+                    SPOT_BOUNCING, SPOT_BOUNCING_FACTOR,
+                    SPOT_TEST, SPOT_TRACK, SPOT_TRACK_DOT,
+                    EXPLOSION};
+
+class rigidLoop : public soundSpot  {
+
+public:
+   
+    // Constructor and destructor:
+    rigidLoop();
+    virtual ~rigidLoop();
+    
+    // instantiation of the virtual methods of the base class (we don't need to append "virtual", but for clarity I do):
+    void createBlob(int _id, RigidLoopMode _rigidBlobMode, vector2Df _initPos, vector2Df _initSpeed);
+    virtual void setRegionMotion(float mmix, float mmiy, float mmax, float mmay); // attention: initial position posX and posY should be inside this bounding box...
+    virtual void update(vector2Df referencePos);  // update dynamics of the mass loop   
+    virtual void draw(void);  // draw the blob (renders on the laser trajectory object lsdTrajectory from the base class, using the openGL laser renderer - not yet done).
+    virtual void computeBoundingBox();
+    virtual void sendDataSpecific(void);
+    virtual void setSpeed(float speed);
+    virtual void setSize(float size);
+    virtual void speedFactor(float speedfactor);
+    virtual void sizeFactor(float sizeFactor);
+    
+    virtual void explosion(); // not very nice programming style, it should be a MODE instead or something like that. 
+    virtual vector2Df getCenter();
+    virtual void resetPositionSpeed() {centerMass.setInitialCondition(startCenter, startSpeed);};
+    virtual void setPositionSpeed(vector2Df _pos, vector2Df _spe) {centerMass.setInitialCondition(_pos, _spe);};
+   
+   virtual void showChildParameters();
+   
+    // methods that are new to this class (not in base class): 
+    void initSizeBlob(int _numPoints);
+    void createLoopFromScafold(void); // this is much simpler than the elastic blob (here, we only need to add a central mass)
+   // void processLoopData(); // not needed, because the loop is rigid.  
+
+    RigidLoopMode updateMode;
+
+ // The number of points in the loop (in this case, is just the number of points in the scaffold, as well as the number of points in the lsdTrajectory)
+ // int numPoints; // this belongs to soundSpot base class
+    pointMass centerMass; // this is the center of the rigidLoop. Note that it can have mass or not, this will depend on the RigidLoopMode
+    float integrationStep;
+    
+   // The following are common to all blobs:
+    // float angleCorrectionForceLoop;
+   // vector2D recenteringVectorLoop;
+   // float angleRecenteringVector; // auxiliary variables for sending data (for the recenteringVectorLoop)
+   // float normRecenteringVector;
+    
+  // other modes: 
+     bool slidingDirection; // for contour following
+   
+   // numeric parameters:
+    float saccadeRadius; 
+    
+    // THINGS FOR CONTOUR FOLLOWING:
+    float saccadeRadius_initial; // this is for SEARCH MODE (remember initial radius)
+    bool justSearched;
+    
+    
+    float rotationAngle; // note: in the future, rotation would be done by the openGL-like renderer
+    
+    float massCenter;
+    float dampMotionCenterMass; 
+   
+    
+    float speedContourFollowing; // this is given as a percentage of the radius of the circle
+    float factorBouncingForce; // spring force when penetrating on dark zone (used by SPOT_BOUNCING)
+    float factorAbsorptionShock; // factor speed damping when bouncing on dark zone (used in SPOT_BOUNCING_FACTOR)
+};
+
+#endif
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