CAlgorithmFingerProxy.h

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//==============================================================================
/*
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    \author    <http://www.chai3d.org>
    \author    Francois Conti
    \version   3.2.0 $Rev: 1869 $
*/
//==============================================================================

//------------------------------------------------------------------------------
#ifndef CAlgorithmFingerProxyH
#define CAlgorithmFingerProxyH
//------------------------------------------------------------------------------
#include "collisions/CGenericCollision.h"
#include "forces/CGenericForceAlgorithm.h"
#include "math/CVector3d.h"
#include "math/CMatrix3d.h"
//------------------------------------------------------------------------------
#include <map>
//------------------------------------------------------------------------------

//------------------------------------------------------------------------------
namespace chai3d {
//------------------------------------------------------------------------------

//------------------------------------------------------------------------------
class cWorld;
//------------------------------------------------------------------------------

//==============================================================================
//==============================================================================

//==============================================================================
//==============================================================================
class cAlgorithmFingerProxy : public cGenericForceAlgorithm
{
    //--------------------------------------------------------------------------
    // CONSTRUCTOR & DESTRUCTOR:
    //--------------------------------------------------------------------------

public:

    cAlgorithmFingerProxy();

    virtual ~cAlgorithmFingerProxy() {}


    //----------------------------------------------------------------------
    // METHODS - BASIC PROXY:
    //----------------------------------------------------------------------

    void initialize(cWorld* a_world, const cVector3d& a_initialGlobalPosition);

    void reset();

    virtual cVector3d computeForces(const cVector3d& a_toolPos, const cVector3d& a_toolVel);


    //----------------------------------------------------------------------
    // METHODS - GETTER AND SETTER FUNCTIONS:
    //----------------------------------------------------------------------

    void setProxyRadius(const double& a_radius) { m_radius = a_radius; m_collisionSettings.m_collisionRadius = m_radius;}

    inline double getProxyRadius() const { return (m_radius); }

    inline cVector3d getProxyGlobalPosition() const { return (m_proxyGlobalPos); }

    inline void setProxyGlobalPosition(const cVector3d& a_position)  { m_proxyGlobalPos = a_position; }

    inline cVector3d getDeviceGlobalPosition() const { return (m_deviceGlobalPos); }

    inline cVector3d getForce() { return (m_lastGlobalForce); }

    inline cVector3d getNormalForce() { return (m_normalForce); }

    inline cVector3d getTangentialForce() { return (m_tangentialForce); }


    //----------------------------------------------------------------------
    // METHODS - COLLISION INFORMATION BETWEEN PROXY AND WORLD
    //----------------------------------------------------------------------

public:

    int getNumCollisionEvents() { return (m_numCollisionEvents); }


    //----------------------------------------------------------------------
    // MEMMBERS - COLLISION INFORMATION BETWEEN PROXY AND WORLD
    //----------------------------------------------------------------------

public:

    cCollisionEvent* m_collisionEvents[3];


    //----------------------------------------------------------------------
    // MEMBERS - FORCE MODELS
    //----------------------------------------------------------------------

public:

    bool m_useDynamicProxy;

    double m_frictionDynHysteresisMultiplier;

    double m_forceShadingAngleThreshold;

    cCollisionSettings m_collisionSettings;


    //----------------------------------------------------------------------
    // METHODS - RESOLUTION / ERRORS
    //----------------------------------------------------------------------

public:

    void setEpsilonBaseValue(double a_value);

    double getEpsilonBaseValue() { return (m_epsilonBaseValue); }


    //--------------------------------------------------------------------------
    // PROTECTED METHODS - GRAPHICS:
    //--------------------------------------------------------------------------

protected:

    virtual void render(cRenderOptions& a_options);


    //--------------------------------------------------------------------------
    // PROTECTED METHODS - INTERNAL:
    //--------------------------------------------------------------------------

protected:

    virtual bool goalAchieved(const cVector3d& a_proxy, const cVector3d& a_goal) const;

    virtual void computeNextBestProxyPosition(const cVector3d& a_goal);

    virtual void testFrictionAndMoveProxy(const cVector3d& a_goal, const cVector3d& a_proxy, cVector3d& a_normal, cGenericObject* a_parent);

    virtual void updateForce();


    //----------------------------------------------------------------------
    // MEMBERS - PROXY, DEVICE AND FORCE INFORMATION:
    //----------------------------------------------------------------------

protected:

    cVector3d m_proxyGlobalPos;

    cVector3d m_deviceGlobalPos;

    cVector3d m_lastGlobalForce;

    cVector3d m_nextBestProxyGlobalPos;

    bool m_slipping;

    cVector3d m_normalForce;

    cVector3d m_tangentialForce;

    unsigned int m_numCollisionEvents;

    double m_radius;


    //----------------------------------------------------------------------
    // PROTECTED MEMBERS - PROXY ALGORITHM
    //----------------------------------------------------------------------

protected:

    cCollisionRecorder m_collisionRecorderConstraint0;

    cCollisionRecorder m_collisionRecorderConstraint1;

    cCollisionRecorder m_collisionRecorderConstraint2;

    cVector3d m_contactPointLocalPos0;

    cVector3d m_contactPointLocalPos1;

    cVector3d m_contactPointLocalPos2;

    double m_epsilonInitialValue;

    double m_epsilon;

    double m_epsilonCollisionDetection;

    double m_epsilonBaseValue;

    double m_epsilonMinimalValue;

    unsigned int m_algoCounter;


    //----------------------------------------------------------------------
    // PROTECTED METHODS - PROXY ALGORITHM
    //----------------------------------------------------------------------

protected:

    void adjustDynamicProxy(const cVector3d& a_goal);

    bool computeNextProxyPositionWithContraints0(const cVector3d& a_goalGlobalPos);

    bool computeNextProxyPositionWithContraints1(const cVector3d& a_goalGlobalPos);

    bool computeNextProxyPositionWithContraints2(const cVector3d& a_goalGlobalPos);

    cVector3d computeShadedSurfaceNormal(cCollisionEvent* a_contactPoint);


    //----------------------------------------------------------------------
    // DEBUG PURPOSES
    //----------------------------------------------------------------------

protected:

    cVector3d surfaceNormal;
};

//------------------------------------------------------------------------------
} // namespace chai3d
//------------------------------------------------------------------------------

//------------------------------------------------------------------------------
#endif
//------------------------------------------------------------------------------