VsMotorVelocityStimulus.h

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#pragma once

namespace VortexAnimatSim
{
        namespace ExternalStimuli
        {

                class VORTEX_PORT VsMotorVelocityStimulus  : public AnimatSim::ExternalStimuli::ExternalStimulus
                {
                protected:
                        std::string m_strStructureID;
                        std::string m_strJointID;
                        MotorizedJoint *m_lpJoint;
                        int m_iTargetID;

                        float *m_lpPosition;
                        float *m_lpVelocity;

                        std::string m_strVelocityEquation;
                        CStdPostFixEval *m_lpEval;

                        bool m_bDisableMotorWhenDone;

                        float m_fltVelocity;
                        float m_fltVelocityReport;

                public:
                        VsMotorVelocityStimulus();
                        virtual ~VsMotorVelocityStimulus();

                        std::string StructureID() {return m_strStructureID;};
                        void StructureID(std::string strVal) {m_strStructureID = strVal;};

                        std::string JointID() {return m_strJointID;};
                        void JointID(std::string strVal) {m_strJointID = strVal;};

                        std::string VelocityEquation() {return m_strVelocityEquation;};
                        void VelocityEquation(std::string strVal);

                        bool DisableMotorWhenDone() {return m_bDisableMotorWhenDone;};
                        void DisableMotorWhenDone(bool bVal) {m_bDisableMotorWhenDone = bVal;};
                        
                        int TargetID() {return m_iTargetID;}
                        void TargetID(int iID);
                        void TargetID(std::string strID);

                        virtual void Load(CStdXml &oXml);

                        //ActiveItem overrides
                        virtual std::string Type() {return "MotorVelocity";};
                        virtual void Initialize();
                        virtual void Activate();
                        virtual void ResetSimulation();  
                        virtual void StepSimulation();
                        virtual void Deactivate();

                        virtual float *GetDataPointer(const std::string &strDataType);
                        virtual bool SetData(const std::string &strDataType, const std::string &strValue, bool bThrowError = true);
                        virtual void QueryProperties(CStdPtrArray<TypeProperty> &aryProperties);
                };

        }                       //ExternalStimuli
}                               //VortexAnimatSim