CEffectStickSlip.h

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//==============================================================================
/*
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    Copyright (c) 2003-2016, CHAI3D.
    (www.chai3d.org)

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    * Neither the name of CHAI3D nor the names of its contributors may
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    \author    <http://www.chai3d.org>
    \author    Francois Conti
    \version   3.2.0 $Rev: 1869 $
*/
//==============================================================================

//------------------------------------------------------------------------------
#ifndef CEffectStickSlipH
#define CEffectStickSlipH
//------------------------------------------------------------------------------
#include "effects/CGenericEffect.h"
//------------------------------------------------------------------------------

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

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

//------------------------------------------------------------------------------
#ifndef DOXYGEN_SHOULD_SKIP_THIS
//------------------------------------------------------------------------------

//------------------------------------------------------------------------------
//------------------------------------------------------------------------------
struct cStickSlipStatus
{
    cVector3d m_currentStickPosition;

    bool m_valid;
};

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


//==============================================================================
//==============================================================================
class cEffectStickSlip : public cGenericEffect
{
    //--------------------------------------------------------------------------
    // CONSTRUCTOR & DESTRUCTOR:
    //--------------------------------------------------------------------------

public:

    cEffectStickSlip(cGenericObject* a_parent);

    virtual ~cEffectStickSlip() {};


    //--------------------------------------------------------------------------
    // PUBLIC METHODS:
    //--------------------------------------------------------------------------

public:

    bool computeForce(const cVector3d& a_toolPos,
                      const cVector3d& a_toolVel,
                      const unsigned int& a_toolID,
                      cVector3d& a_reactionForce);


    //--------------------------------------------------------------------------
    // MEMBERS:
    //--------------------------------------------------------------------------

protected:

    cStickSlipStatus m_history[C_EFFECT_MAX_IDN];
};

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

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