OMKJoint.h

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/************************************************************************/
/* This file is part of openMask(c) INRIA, CNRS, Universite de Rennes 1 */
/* 1993-2002, thereinafter the Software                                 */
/*                                                                      */
/* The Software has been developped within the Siames Project.          */
/* INRIA, the University of Rennes 1 and CNRS jointly hold intellectual */
/* property rights                                                      */
/*                                                                      */
/* The Software has been registered with the Agence pour la Protection  */
/* des Programmes (APP) under registration number                       */
/* IDDN.FR.001.510008.00.S.P.2001.000.41200                             */
/*                                                                      */
/* This file may be distributed under the terms of the Q Public License */
/* version 1.0 as defined by Trolltech AS of Norway and appearing in    */
/* the file LICENSE.QPL included in the packaging of this file.         */
/*                                                                      */
/* Licensees holding valid specific licenses issued by INRIA, CNRS or   */
/* Universite Rennes 1 for the software may use this file in            */
/* acordance with that specific license                                 */
/************************************************************************/
                
#if !defined OMK_III_JOINT_H
#define OMK_III_JOINT_H

#include "OMKName.h"
#include "OMKTransform.h"
#include "OBTPrototypeFactory.h"
#include "OMKInteraction.h"

namespace OMK  
{
  template< typename T > class IAttributeBaseT ;
  // Predefined classes
  namespace Type { class Transform ; }
  namespace Iii 
  {
    class JointExtension ;
#define DECLARE_JOINT_FACTORY( JointClass ) \
public: \
 \
  friend class OMK::Iii::JointCreatorT< JointClass > ; \
 \
  static OMK::Name OMK_CLASS_ID ; \
 \
  static const bool REGISTERED_IN_JOINT_FACTORY ; \
protected: \
 \
    JointClass( OMK::Iii::JointExtension* owner, const OMK::ConfigurationParameterDescriptor * node ) ; \
public: \
  virtual ~JointClass() 

#define REGISTER_JOINT_FACTORY( JointClass, Id )\
  /* Factory */ \
  OMK::Name JointClass::OMK_CLASS_ID( Id ) ; \
  const bool JointClass::REGISTERED_IN_JOINT_FACTORY( OMK::Iii::JointFactory::getInstance().registerCreator< OMK::Iii::JointCreatorT< JointClass > >( Id ) )


//-----------------------------------------------------------------------------
// forward declaration of Joint
class Joint ;  

//-----------------------------------------------------------------------------
class OMKIII_API JointCreator
{
public:
  virtual ~JointCreator(){}
  virtual Joint* operator()( OMK::Iii::JointExtension* owner, const ConfigurationParameterDescriptor * node ) const
  {
    OMERROR( "Creator is not registered" << std::endl << node ) ;
    throw Exception( "Creator is not registered" ) ;
    return 0 ;
  }
} ;

//-----------------------------------------------------------------------------
template <class T>
class JointCreatorT : public JointCreator
{
public:

  typedef T object_to_create ;
  virtual ~JointCreatorT(){}
  Joint* operator()( OMK::Iii::JointExtension* owner, const ConfigurationParameterDescriptor * node ) const
  {
    return new T( owner, node ) ;
  }
} ;

//-----------------------------------------------------------------------------
typedef OBT::Singleton< OBT::PrototypeFactory< OMK::Name, JointCreator > > JointFactory ;
    
 
//-----------------------------------------------------------------------------
class OMKIII_API Joint
{
  friend class JointExtension ;
  DECLARE_JOINT_FACTORY( Joint ) ;
protected:




  virtual void establishLink() ;
  virtual void currentJointPosition() ;
  virtual bool retroPropagation() ;
  virtual void currentObjectPosition() ;




  OMK::Type::Transform _jointOffset ;
  OMK::Type::Transform _jointOffsetInverse ;
  OMK::Type::Transform _objectOffset ;
  OMK::Type::Transform _objectOffsetInverse ;
  JointExtension* _owner ;
  IAttributeBaseT< OMK::Type::Transform >* _objectPosition ;
  IAttributeBaseT< OMK::Type::Transform >* _referencePosition ;
  IAttributeBaseT< OMK::Type::Transform >* _jointPosition ;
} ;
//-----------------------------------------------------------------------------
class OMKIII_API BallJoint : public Joint
{
  DECLARE_JOINT_FACTORY( BallJoint ) ;
protected:


  virtual void establishLink() ;
  virtual bool retroPropagation() ;
  virtual void currentObjectPosition() ;




  OMK::Type::Transform _newObjectPosition ;
  OMK::Type::Transform _refObjectOffset ;
  bool _alreadyKnow ;
  float _radius ;
  Wm4::Vector3f _previousPosition ;
  bool _reset ;
} ;

//-----------------------------------------------------------------------------
class OMKIII_API HingeSlideJoint : public Joint
{
  DECLARE_JOINT_FACTORY( HingeSlideJoint ) ;
protected:
  virtual void establishLink() ;
  virtual bool retroPropagation() ;
  virtual void currentObjectPosition() ;
  OMK::Type::Transform _newObjectPosition ;
  OMK::Type::Transform _refObjectOffset ;
  bool _alreadyKnow ;

  float _radius ;
  float _refSlide ;


  float _minSlide ;
  float _maxSlide ;
  bool _minSlideEnable ;
  bool _maxSlideEnable ;
  float _minAngle ;
  float _maxAngle ;
  bool _angleEnable ;
  bool _rotateOnly ;
  bool _ignoreTranslate ;
  virtual bool computeConstraints( float& angle, float& currentSlide,
                                   Wm4::Matrix3f& overRotationMatrix, float& overSlide, 
                                   Wm4::Vector3f& newOrientation, 
                                   const Wm4::Vector3f& refOrientation, const Wm4::Vector3f& axis ) ;
} ;

//-----------------------------------------------------------------------------
class OMKIII_API ScrewJoint : public HingeSlideJoint
{
  DECLARE_JOINT_FACTORY( ScrewJoint ) ;
protected:
  virtual void establishLink() ;


  float _pitch ;
  bool _reverse ;
  enum States { NOSCREW, SCREW, UNSCREW, IS_MIN, IS_MAX } ;
  States _state ;
  States _stateMin ;
  States _stateMax ;
  float _previousAngle ;
  float _turns ;
  Wm4::Vector3f _previousOrientation ;
  virtual bool computeConstraints( float& angle, float& currentSlide,
                                   Wm4::Matrix3f& overRotationMatrix, float& overSlide, 
                                   Wm4::Vector3f& newOrientation, 
                                   const Wm4::Vector3f& refOrientation, const Wm4::Vector3f& axis ) ;
  float computeConstraintAngle( float& angle, const float& currentSlide,
                               Wm4::Vector3f& newOrientation, 
                               const Wm4::Vector3f& refOrientation, const Wm4::Vector3f& axis ) ;
} ;

  }// namespace Iii
}// namespace OMK

template class OMKIII_API OBT::PrototypeFactory< OMK::Name, OMK::Iii::JointCreator > ;
template class OMKIII_API OBT::Singleton< OBT::PrototypeFactory< OMK::Name, OMK::Iii::JointCreator > > ;

#endif // defined OMK_III_JOINT_H

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