Prismatic.cpp

Go to the documentation of this file.

#include "StdAfx.h"
#include "IMotorizedJoint.h"
#include "IMovableItemCallback.h"
#include "ISimGUICallback.h"
#include "AnimatBase.h"

#include "Node.h"
#include "IPhysicsMovableItem.h"
#include "IPhysicsBody.h"
#include "BoundingBox.h"
#include "MovableItem.h"
#include "BodyPart.h"
#include "Joint.h"
#include "MotorizedJoint.h"
#include "ReceptiveField.h"
#include "ContactSensor.h"
#include "RigidBody.h"
#include "ConstraintLimit.h"
#include "Prismatic.h"
#include "Structure.h"
#include "Organism.h"
#include "ActivatedItem.h"
#include "ActivatedItemMgr.h"
#include "DataChartMgr.h"
#include "ExternalStimuliMgr.h"
#include "KeyFrame.h"
#include "SimulationRecorder.h"
#include "OdorType.h"
#include "Odor.h"
#include "Light.h"
#include "LightManager.h"
#include "Simulator.h"

namespace AnimatSim
{
        namespace Environment
        {
                namespace Joints
                {
Prismatic::Prismatic()
{
        m_lpUpperLimit = NULL;
        m_lpLowerLimit = NULL;
        m_lpPosFlap = NULL;
}

Prismatic::~Prismatic()
{
try
{
        if(m_lpUpperLimit)
        {
                delete m_lpUpperLimit;
                m_lpUpperLimit = NULL;
        }

        if(m_lpLowerLimit)
        {
                delete m_lpLowerLimit;
                m_lpLowerLimit = NULL;
        }

        if(m_lpPosFlap)
        {
                delete m_lpPosFlap;
                m_lpPosFlap = NULL;
        }
}
catch(...)
{Std_TraceMsg(0, "Caught Error in desctructor of Prismatic\r\n", "", -1, false, true);}
}

float Prismatic::CylinderRadius() 
{
        return m_fltSize;
};


float Prismatic::BoxSize() 
{
        return m_fltSize * 3;
};

void Prismatic::Enabled(bool bValue) 
{
        EnableMotor(m_bEnableMotorInit);
        m_bEnabled = bValue;
}

ConstraintLimit *Prismatic::UpperLimit() {return m_lpUpperLimit;}

ConstraintLimit *Prismatic::LowerLimit() {return m_lpLowerLimit;}

float Prismatic::GetPositionWithinLimits(float fltPos)
{
        if(m_bEnableLimits)
        {
                if(fltPos>m_lpUpperLimit->LimitPos())
                        fltPos = m_lpUpperLimit->LimitPos();
                if(fltPos<m_lpLowerLimit->LimitPos())
                        fltPos = m_lpLowerLimit->LimitPos();
        }

        return fltPos;
}

float Prismatic::GetLimitRange()
{
        if(m_bEnableLimits)
                return (m_lpUpperLimit->LimitPos()-m_lpLowerLimit->LimitPos());
        else
                return -1;
}

bool Prismatic::SetData(const std::string &strDataType, const std::string &strValue, bool bThrowError)
{
        std::string strType = Std_CheckString(strDataType);

        if(MotorizedJoint::SetData(strType, strValue, false))
                return true;

        //If it was not one of those above then we have a problem.
        if(bThrowError)
                THROW_PARAM_ERROR(Al_Err_lInvalidDataType, Al_Err_strInvalidDataType, "Data Type", strDataType);

        return false;
}

int Prismatic::GetTargetDataTypeIndex(const std::string &strDataType)
{
        std::string strType = Std_CheckString(strDataType);

        if(strType == "DESIREDPOSITION")
                return DESIRED_POSITION_TYPE;
        else
                return DESIRED_VELOCITY_TYPE;

}

void Prismatic::AddExternalNodeInput(int iTargetDataType, float fltInput)
{
        if(iTargetDataType == DESIRED_POSITION_TYPE)
                m_fltDesiredPosition += fltInput;
        else
                m_fltDesiredVelocity += fltInput;
}

void Prismatic::Load(CStdXml &oXml)
{
        MotorizedJoint::Load(oXml);

        oXml.IntoElem();  //Into Joint Element

        m_lpUpperLimit->SetSystemPointers(m_lpSim, m_lpStructure, NULL, this, true);
        m_lpLowerLimit->SetSystemPointers(m_lpSim, m_lpStructure, NULL, this, true);
        m_lpPosFlap->SetSystemPointers(m_lpSim, m_lpStructure, NULL, this, JointPosition());

        m_lpUpperLimit->Load(oXml, "UpperLimit");
        m_lpLowerLimit->Load(oXml, "LowerLimit");

        oXml.OutOfElem(); //OutOf Joint Element
}

                }               //Joints
        }                       //Environment
}                               //AnimatSim