motor.cc

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/* This file is part of StepCore library.
   Copyright (C) 2007 Vladimir Kuznetsov <ks.vladimir@gmail.com>

   StepCore library is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; either version 2 of the License, or
   (at your option) any later version.

   StepCore library 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 General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with StepCore; if not, write to the Free Software
   Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
*/

#include "motor.h"
#include "rigidbody.h"
#include "particle.h"
#include <cmath>
#include <QtGlobal>

namespace StepCore
{

STEPCORE_META_OBJECT(LinearMotor, QT_TRANSLATE_NOOP("ObjectClass", "LinearMotor"), QT_TR_NOOP("Linear motor: applies a constant force to a given position of the body"), 0,
    STEPCORE_SUPER_CLASS(Item) STEPCORE_SUPER_CLASS(Force),
    STEPCORE_PROPERTY_RW(Object*, body, QT_TRANSLATE_NOOP("PropertyName", "body"), STEPCORE_UNITS_NULL, QT_TR_NOOP("Body"), body, setBody)
    STEPCORE_PROPERTY_RW(StepCore::Vector2d, localPosition, QT_TRANSLATE_NOOP("PropertyName", "localPosition"), QT_TRANSLATE_NOOP("Units", "m"), QT_TR_NOOP("Position of the motor on a body"), localPosition, setLocalPosition)
    STEPCORE_PROPERTY_RW(StepCore::Vector2d, forceValue, QT_TRANSLATE_NOOP("PropertyName", "forceValue"), QT_TRANSLATE_NOOP("Units", "N"), QT_TR_NOOP("Value of the force, acting on the body"), forceValue, setForceValue))

STEPCORE_META_OBJECT(CircularMotor, QT_TRANSLATE_NOOP("ObjectClass", "CircularMotor"), QT_TR_NOOP("Circular motor: applies a constant torque to the body"), 0,
    STEPCORE_SUPER_CLASS(Item) STEPCORE_SUPER_CLASS(Force),
    STEPCORE_PROPERTY_RW(Object*, body, QT_TRANSLATE_NOOP("PropertyName", "body"), STEPCORE_UNITS_NULL, QT_TR_NOOP("Body"), body, setBody)
    STEPCORE_PROPERTY_RW(StepCore::Vector2d, localPosition, QT_TRANSLATE_NOOP("PropertyName", "localPosition"), QT_TRANSLATE_NOOP("Units", "m"), QT_TR_NOOP("Position of the motor on a body"), localPosition, setLocalPosition)
    STEPCORE_PROPERTY_RW(double, torqueValue, QT_TRANSLATE_NOOP("PropertyName", "torqueValue"), QT_TRANSLATE_NOOP("Units", "N m"), QT_TR_NOOP("Value of the torque, acting on the body"), torqueValue, setTorqueValue))


LinearMotor::LinearMotor(Object* body, const Vector2d& localPosition, Vector2d forceValue)
    : _localPosition(localPosition), _forceValue(forceValue)
{
    setBody(body);
    setColor(0xff0000ff);
}

void LinearMotor::calcForce(bool /*calcVariances*/)
{
     if(_p) _p->applyForce(_forceValue);
     else if(_r) _r->applyForce(_forceValue,
                        _r->pointLocalToWorld(_localPosition));
        
}

void LinearMotor::setBody(Object* body)
{
    if(body) {
        if(body->metaObject()->inherits<Particle>()) {
            _body = body;
            _p = static_cast<Particle*>(body);
            _r = NULL;
            return;
        } else if(body->metaObject()->inherits<RigidBody>()) {
            _body = body;
            _p = NULL;
            _r = static_cast<RigidBody*>(body);
            return;
        }
    }
    _body = NULL;
    _p = NULL;
    _r = NULL;
}    

Vector2d LinearMotor::position() const
{
    if(_p) return _p->position() + _localPosition;
    else if(_r) return _r->pointLocalToWorld(_localPosition);
    return _localPosition;
}

/*
void LinearMotor::worldItemRemoved(Item* item)
{
    if(item == NULL) return;
    if(item == _body) setBody(NULL);
}

void LinearMotor::setWorld(World* world)
{
    if(world == NULL) {
        setBody(NULL);        
    } else if(this->world() != NULL) { 
        if(_body != NULL) setBody(world->item(body()->name()));
    }
    Item::setWorld(world);
}
*/

CircularMotor::CircularMotor(Object* body, const Vector2d& localPosition, double torqueValue)
    : _localPosition(localPosition), _torqueValue(torqueValue)
{
    setBody(body);
    setColor(0xff0000ff);
}

void CircularMotor::calcForce(bool /*calcVariances*/)
{
     if(_r) _r->applyTorque(_torqueValue);        
}

void CircularMotor::setBody(Object* body)
{
    if(body) {
        if(body->metaObject()->inherits<RigidBody>()) {
            _body = body;
            _r = static_cast<RigidBody*>(body);
            return;
        }
    }
    _body = NULL;
    _r = NULL;
}    

Vector2d CircularMotor::localPosition() const
{
    if(_r) return Vector2d::Zero();
    else return _localPosition;
}

Vector2d CircularMotor::position() const
{
    if(_r) return _r->position();
    return _localPosition;
}

/*
void  CircularMotor::worldItemRemoved(Item* item)
{
    if(item == NULL) return;
    if(item == _body) setBody(NULL);
}

void CircularMotor::setWorld(World* world)
{
    if(world == NULL) {
        setBody(NULL);        
    } else if(this->world() != NULL) { 
        if(_body != NULL) setBody(world->item(body()->name()));
    }
    Item::setWorld(world);
}
*/

} // namespace StepCore