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c:/home/kevn/src/animaniac/gator/DriveOperator.h

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#ifndef DRIVE_OPERATOR_H
#define DRIVE_OPERATOR_H
#include <vector>
#include "ani/Dynamics/Operator.h"
#include "ani/Dynamics/DynamicSystem.h"
#include <gmtl/Output.h>

namespace gator
{
   class DriveNavigationOperator : public ani::Operator<ani::Body>
   {
   public:
      typedef boost::shared_ptr<ani::Body> EntityTypePtr;

   public:
      //: default constructor
      DriveNavigationOperator( EntityTypePtr& e ) :
      ani::Operator<ani::Body>(), mEnt( e )
      {
      }

      //: destructor
      virtual ~DriveNavigationOperator()
      {
      }

      void impulseForce( const gmtl::Vec3f& acc )
      {
         mImpulseForce += acc;
      }

      void force( const gmtl::Vec3f& force )
      {
         mForce += force;
      }

      void torque( const gmtl::Vec3f& torque )
      {
         mTorque += torque;
      }   

      void stop()
      {
         mStopping = true;
      }   

      virtual void exec( ani::DynamicSystem<ani::Body>& ps, float timeDelta )
      {
         ani::Body& p = *mEnt;

         // apply force in direction particle is facing...
         // TODO, maybe this should be moved up to the app level...
         gmtl::Matrix44f mat;
         //vjkev::Quat inv;
         //inv.invert( p.rotation() );
         gmtl::set( mat, p.rotation() );
         gmtl::Vec3f rotated_force, rotated_torque(mTorque);
         rotated_force = mat * mForce;
         //rotated_torque.xformVec( mat, mTorque );

         // apply forces...
         p.applyForce( rotated_force );
         //p.applyTorque( rotated_torque );
         p.setAngularVelocity( rotated_torque );

         // expand the impulse force to cover 1 second
         p.applyForce( mImpulseForce / (timeDelta) );

         if (mStopping == true)
         {
            if (gmtl::length( p.linearVelocity() ) > 0.0f)
            {
               // calc the amount of force needed to stop immediately 
               // (immediately == in this timestep)
               gmtl::Vec3f force( -p.linearVelocity() * p.mass() / timeDelta );
               p.applyForce( force * timeDelta * 3.0f );

               //gmtl::Vec3f bok = force * timeDelta * 3.0f;
               //std::cout<<"stop force: "<<bok<<"\n"<<std::flush;
            }
         }
         mForce.set( 0,0,0 );
         mTorque.set( 0,0,0 );
         mImpulseForce.set( 0,0,0 );
         mStopping = false;
      }
      EntityTypePtr mEnt;
      gmtl::Vec3f mForce;
      gmtl::Vec3f mImpulseForce;
      gmtl::Vec3f mTorque; // right hand rule.  |torque| is the amount.
      bool mStopping;
   };
} // end namespace gator

#endif

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