taoJoint.h

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/* Copyright (c) 2005 Arachi, Inc. and Stanford University.
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject
 * to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included
 * in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
 * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
 * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
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 * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

#ifndef _taoJoint_h
#define _taoJoint_h

#include "taoDJoint.h"
#include "taoVar.h"
#include "taoTypes.h"
#include "deMath.h"

class taoABJoint;
class taoJCParam;

class taoJoint : public taoDJoint
{
public:
        taoJoint() : _type(TAO_JOINT_USER), _abJoint(NULL), _jcp(NULL), _clamp_dQ(0), _max_dQ(5), _damping(0), _inertia(0), _var(NULL), _next(NULL) {}
        virtual ~taoJoint();

        virtual deInt getDOF() = 0;
        virtual void reset() = 0;

        virtual void setDVar(taoDVar* var) { _var = var; }
        virtual taoDVar* getDVar() { return _var; }

        void setType(taoJointType t) { _type = t; }
        taoJointType getType() { return _type; }

        void setABJoint(taoABJoint* joint) { _abJoint = joint; }
        taoABJoint* getABJoint() { return _abJoint; }

        void setJCParam(taoJCParam* jcp) { _jcp = jcp; }
        taoJCParam* getJCParam() { return _jcp; }

        void setDQclamp(deInt b) { _clamp_dQ = b; }
        deInt getDQclamp() { return _clamp_dQ; }
        
        void setNext(taoJoint* joint) { _next = joint; }
        taoJoint* getNext() { return _next; }

        virtual void setDQmax(deFloat dq) { _max_dQ = dq; }
        virtual deFloat getDQmax() { return _max_dQ; }

        virtual void setDamping(deFloat d) { _damping = d; }
        virtual deFloat getDamping() { return _damping; }

        virtual void setInertia(deFloat i) { _inertia = i; }
        virtual deFloat getInertia() { return _inertia; }

        virtual void clampDQ() = 0;
        virtual void integrate(const deFloat dt) = 0;
        virtual void updateFrameLocal(deFrame* local) = 0;

        virtual void setTau(const deFloat* v) = 0;
        virtual void setDDQ(const deFloat* v) = 0;
        virtual void setDQ(const deFloat* v) = 0;
        virtual void setQ(const deFloat* v) = 0;
        virtual void getTau(deFloat* v) = 0;
        virtual void getDDQ(deFloat* v) = 0;
        virtual void getDQ(deFloat* v) = 0;
        virtual void getQ(deFloat* v) = 0;

private:
        taoJointType _type;
        taoABJoint* _abJoint;
        taoJCParam* _jcp;

        deInt _clamp_dQ;
        deFloat _max_dQ;

        deFloat _damping;
        deFloat _inertia;

        taoDVar* _var;
        taoJoint* _next;
};

class taoJointSpherical : public taoJoint
{
public:
        taoJointSpherical();

        virtual deInt getDOF() { return 3; }
        virtual void reset();

        virtual taoVarSpherical* getVarSpherical() { return (taoVarSpherical*)getDVar(); }

        virtual void addQdelta();
        virtual void addDQdelta();
        virtual void zeroTau() { getVarSpherical()->_Tau.zero(); }
        virtual void setTau(const deFloat* v) { getVarSpherical()->_Tau.set(v); }
        virtual void setDDQ(const deFloat* v) { getVarSpherical()->_ddQ.set(v); }
        virtual void setDQ(const deFloat* v) { getVarSpherical()->_dQ.set(v); }
        virtual void setQ(const deFloat* v) { getVarSpherical()->_Q.set(v); }
        virtual void getTau(deFloat* v) { getVarSpherical()->_Tau.get(v); }
        virtual void getDDQ(deFloat* v) { getVarSpherical()->_ddQ.get(v); }
        virtual void getDQ(deFloat* v) { getVarSpherical()->_dQ.get(v); }
        virtual void getQ(deFloat* v) { deQuaternion& q = getVarSpherical()->_Q; v[0] = q[0]; v[1] = q[1]; v[2] = q[2]; v[3] = q[3]; }

        virtual void clampDQ();
        virtual void integrate(const deFloat dt);
        virtual void updateFrameLocal(deFrame* local) { local->rotation() = getVarSpherical()->_Q; }

        virtual deMatrix3* getJg();
};

class taoJointDOF1 : public taoJoint
{
public:
        taoJointDOF1(taoAxis axis) : _axis(axis) {}

        taoAxis getAxis() const { return _axis; }
        virtual deInt getDOF() { return 1; }

        virtual deVector6& getS();

        virtual void reset() 
        {
                getVarDOF1()->_Q = 0;
                getVarDOF1()->_dQ = 0;
                getVarDOF1()->_ddQ = 0;
                getVarDOF1()->_Tau = 0;
        }

        virtual taoVarDOF1* getVarDOF1() { return (taoVarDOF1*)getDVar(); }

        virtual void addQdelta() { getVarDOF1()->_Q += getVarDOF1()->_ddQ; }
        virtual void addDQdelta() { getVarDOF1()->_dQ += getVarDOF1()->_ddQ; if (getDQclamp()) clampDQ(); }
        virtual void zeroTau() { getVarDOF1()->_Tau = 0; }
        virtual void setTau(const deFloat* v) { getVarDOF1()->_Tau = *v; }
        virtual void setDDQ(const deFloat* v) { getVarDOF1()->_ddQ = *v; }
        virtual void setDQ(const deFloat* v) { getVarDOF1()->_dQ = *v; }
        virtual void setQ(const deFloat* v) { getVarDOF1()->_Q = *v; }
        virtual void getTau(deFloat* v) { *v = getVarDOF1()->_Tau; }
        virtual void getDDQ(deFloat* v) { *v = getVarDOF1()->_ddQ; }
        virtual void getDQ(deFloat* v) { *v = getVarDOF1()->_dQ; }
        virtual void getQ(deFloat* v) { *v = getVarDOF1()->_Q; }

        virtual void clampDQ();
        virtual void integrate(const deFloat dt);

        virtual deVector6& getJg();

private:
        taoAxis _axis;
};

class taoJointPrismatic : public taoJointDOF1
{
public:
        taoJointPrismatic(taoAxis axis);
        virtual void updateFrameLocal(deFrame* local) 
        { local->translation()[getAxis()] = getVarDOF1()->_Q; }
};

class taoJointRevolute : public taoJointDOF1
{
public:
        taoJointRevolute(taoAxis axis);
        virtual void updateFrameLocal(deFrame* local)
        {
                local->rotation().set(getAxis(), getVarDOF1()->_Q);
        }
};

class taoJointUser : public taoJointDOF1
{
public:
        taoJointUser();
        //virtual void updateFrameLocal(deFrame* local) = 0;
};

#endif // _taoJoint_h

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