rigidLoop.h

00001 #ifndef RIGID_LOOP
00002 #define RIGID_LOOP
00003 
00004 // Include the basic objects to create the loop
00005 #include "soundSpot.h"
00006 #include "classPointMass.h" // this may be used to move the center of the RIGID loop in dynamically "real" ways
00007 #include "classSpring.h"    // same remark than above
00008 
00009 using namespace std;
00010 
00011 enum RigidLoopMode {SPOT_FOLLOWING,  SPOT_GHOST, SPOT_PACMAN, SPOT_AIR_HOCKEY, SPOT_LORENTZ_FORCE, 
00012                     SPOT_BOUNCING, SPOT_BOUNCING_FACTOR,
00013                     SPOT_TEST, SPOT_TRACK, SPOT_TRACK_DOT,
00014                     EXPLOSION};
00015 
00016 class rigidLoop : public soundSpot  {
00017 
00018 public:
00019    
00020     // Constructor and destructor:
00021     rigidLoop();
00022     virtual ~rigidLoop();
00023     
00024     // instantiation of the virtual methods of the base class (we don't need to append "virtual", but for clarity I do):
00025     void createBlob(int _id, RigidLoopMode _rigidBlobMode, vector2Df _initPos, vector2Df _initSpeed);
00026     virtual void setRegionMotion(float mmix, float mmiy, float mmax, float mmay); // attention: initial position posX and posY should be inside this bounding box...
00027     virtual void update(vector2Df referencePos);  // update dynamics of the mass loop   
00028     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).
00029     virtual void computeBoundingBox();
00030     virtual void sendDataSpecific(void);
00031     virtual void setSpeed(float speed);
00032     virtual void setSize(float size);
00033     virtual void speedFactor(float speedfactor);
00034     virtual void sizeFactor(float sizeFactor);
00035     
00036     virtual void explosion(); // not very nice programming style, it should be a MODE instead or something like that. 
00037     virtual vector2Df getCenter();
00038     virtual void resetPositionSpeed() {centerMass.setInitialCondition(startCenter, startSpeed);};
00039     virtual void setPositionSpeed(vector2Df _pos, vector2Df _spe) {centerMass.setInitialCondition(_pos, _spe);};
00040    
00041    virtual void showChildParameters();
00042    
00043     // methods that are new to this class (not in base class): 
00044     void initSizeBlob(int _numPoints);
00045     void createLoopFromScafold(void); // this is much simpler than the elastic blob (here, we only need to add a central mass)
00046    // void processLoopData(); // not needed, because the loop is rigid.  
00047 
00048     RigidLoopMode updateMode;
00049 
00050  // 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)
00051  // int numPoints; // this belongs to soundSpot base class
00052     pointMass centerMass; // this is the center of the rigidLoop. Note that it can have mass or not, this will depend on the RigidLoopMode
00053     float integrationStep;
00054     
00055    // The following are common to all blobs:
00056     // float angleCorrectionForceLoop;
00057    // vector2D recenteringVectorLoop;
00058    // float angleRecenteringVector; // auxiliary variables for sending data (for the recenteringVectorLoop)
00059    // float normRecenteringVector;
00060     
00061   // other modes: 
00062      bool slidingDirection; // for contour following
00063    
00064    // numeric parameters:
00065     float saccadeRadius; 
00066     
00067     // THINGS FOR CONTOUR FOLLOWING:
00068     float saccadeRadius_initial; // this is for SEARCH MODE (remember initial radius)
00069     bool justSearched;
00070     
00071     
00072     float rotationAngle; // note: in the future, rotation would be done by the openGL-like renderer
00073     
00074     float massCenter;
00075     float dampMotionCenterMass; 
00076    
00077     
00078     float speedContourFollowing; // this is given as a percentage of the radius of the circle
00079     float factorBouncingForce; // spring force when penetrating on dark zone (used by SPOT_BOUNCING)
00080     float factorAbsorptionShock; // factor speed damping when bouncing on dark zone (used in SPOT_BOUNCING_FACTOR)
00081 };
00082 
00083 #endif