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

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#ifndef GLUE_OPER
#define GLUE_OPER
#include <vector>
#include "ani/Dynamics/Operator.h"
#include "ani/Dynamics/DynamicSystem.h"

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

   public:
      GlueOperator( EntityTypePtr& e1, gmtl::Vec3f pos1,
                    EntityTypePtr& e2, gmtl::Vec3f pos2 ) :
                                         ani::Operator<ani::Body>(),
                                         mBody1( e1 ), mBodyPosition1( pos1 ),
                                         mBody2( e2 ), mBodyPosition2( pos2 )
      {
      }
      
      virtual ~GlueOperator()
      {
      }
      
      void setEntities( EntityTypePtr& e1, gmtl::Vec3f pos1,
                        EntityTypePtr& e2, gmtl::Vec3f pos2 )
      {
         mBody1 = e1;
         mBody2 = e2;
         mBodyPosition1 = pos1;
         mBodyPosition2 = pos2;
         mBody2->setPosition( mBody1->position() + pos2 );
      }

      virtual void exec( ani::DynamicSystem<ani::Body>& ps, float timeDelta )
      {
         // @todo this doesn't even attempt to work...

         
         // @todo consider the torque momentum too...
         // force from 1 in 2's coord frame
         gmtl::Vec3f force_from1( mBody1->linearMomentum() - 
                                  mBody2->linearMomentum()), 
                     force_from2( mBody2->linearMomentum() -
                                  mBody1->linearMomentum());
         mBody1->applyForce( force_from2, mBodyPosition2 );
         //mBody2->applyForce( force_from1, mBodyPosition2 );
         //mBody1->setPosition( mBody2->position() + mBodyPosition1 -
         //mBodyPosition1 );
         mBody2->setPosition( mBody1->position() + mBodyPosition2 -
         mBodyPosition2 );
      }

   private:
      EntityTypePtr mBody1, mBody2;
      gmtl::Vec3f mBodyPosition1, mBodyPosition2;
   };
} // end namespace gator
   



#endif

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