Diff: rigidLoop.h

Revision:

1:a4050fee11f7

Child:

4:f9d364f10335

diff -r 345b3bc7a0ea -r a4050fee11f7 rigidLoop.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rigidLoop.h	Sat Mar 31 08:19:31 2012 +0000
@@ -0,0 +1,59 @@
+#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_BOUNCING};
+
+class rigidLoop : public soundSpot  {
+
+public:
+   
+    // Constructor and destructor:
+    rigidLoop();
+    ~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, vector2D _initPos);
+    virtual void setRegionMotion(int mmix, int mmiy, int mmax, int mmay); // attention: initial position posX and posY should be inside this bounding box...
+    virtual void update();  // 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);
+       
+    // 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;
+    pointMass centerMass; // this is the center of the rigidLoop. Note that it can have mass or not, this will depend on the RigidLoopMode
+    
+   // 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; 
+    
+    float massCenter;
+    float dampMotionCenterMass; 
+    
+    float speedContourFollowing; // this is given as a percentage of the radius of the circle
+    float factorBouncingForce;
+};
+
+#endif
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