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

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#ifndef TETHERED_DRIVE_METHOD
#define TETHERED_DRIVE_METHOD

#include <gator/TravelMethod.h>
#include "ani/Dynamics/Body.h"
#include "ani/Dynamics/Operator.h"
#include "ani/Dynamics/solvers/EulerODEsolver.h"
#include "ani/Dynamics/solvers/RungeKuttaODEsolver.h"
#include "ani/Dynamics/DynamicSystem.h"

#include "gator/TireForceOperator.h"
#include "gator/AccelerateOperator.h"
#include "gator/GravityOperator.h"
#include "gator/DriveOperator.h"
#include "gator/CollisionResponseOperator.h"
#include "gator/TetherOperator.h"
#include "TetherOperator.h"

namespace gator
{
   class TetheredDriveMethod : public TravelMethod
   {
   public:
      TetheredDriveMethod() : TravelMethod(),
        mTireForce( new TireForceOperator(mAvatar) ),
        mNavigator( new DriveNavigationOperator(mAvatar) ),
        mCollider( new CollisionResponseOperator )
      {
         boost::shared_ptr<ani::Operator<ani::Body> > gravity( new Acceleration( 0,-9.8f * 4.0f, 0 ) );
         boost::shared_ptr<ani::Operator<ani::Body> > tether( new TetherOperator( mCamera, mAvatar ) );

         // Pounds to Kilograms, multiply Pounds by 0.45
         // Kilograms to Pounds, multiply Kilograms by 2.2
         //mAvatar->setMass( 170.0f * 0.45f );
         mAvatar->setMass( 100.0f );
         mAvatar->setVolume( gmtl::Vec3f( 1, 1, 1 ) );
         mAvatar->setPosition( gmtl::Vec3f( 0, 20, -20 ));
         mCollider->setElastic( 0.2f );
         mTireForce->setCollisionDetector( mCollisionDetector );
         mCollider->setCollisionDetector( mCollisionDetector );
         
         this->push_back( gravity );
         this->push_back( boost::shared_dynamic_cast<ani::Operator<ani::Body> >( mNavigator ) );

         // goes last
         this->push_back( boost::shared_dynamic_cast<ani::Operator<ani::Body> >( mCollider ) );
         this->push_back( boost::shared_dynamic_cast<ani::Operator<ani::Body> >( mTireForce ) );
         this->push_back( tether );
         this->push_back( mAvatar );
         this->push_back( mCamera );
      }

      virtual void digitalInput( unsigned int id, EdgeState value )
      {
         float t = 1.0f;

         switch (id)
         {
         case 0: // accel
            if (value == DOWN)
            {
               gmtl::Matrix44f pointerMat;
               gmtl::Vec3f dir;
               dir = pointerMat * gmtl::Vec3f( 0.0f, 0.0f, -3000.0f );
               //std::cout<<"accel "<<dir<<"\n"<<std::flush;

               mNavigator->force( dir );
            }
            else if (value== EDGE_DOWN)
            {
               gmtl::Matrix44f pointerMat;
               gmtl::Vec3f dir;
               dir = pointerMat * gmtl::Vec3f( 0.0f, 0.0f, -6000.0f );
               mNavigator->force( dir );
            }
            break;
         case 1: // stop
            if (value == DOWN)
               mNavigator->stop();
            break;
         case 2: // turn left
            if (value == DOWN)
            {
               gmtl::Vec3f q;
               q.set( 0.0f, t, 0.0f );
               mNavigator->torque( q );
            }
            break;
         case 3: // turn right
            if (value == DOWN)
            {
               gmtl::Vec3f q;
               q.set( 0.0f, -t, 0.0f );
               mNavigator->torque( q );
            }
            break;
         case 4: // jump
            {
               gmtl::Vec3f accel( 0, 25, 0 );
               if (value == EDGE_DOWN)
                  mNavigator->impulseForce( accel * mAvatar->mass() );
               break;
            }
         default: break;
         }
      }

      virtual void analogInput( unsigned int id, float value )
      {
         switch (id)
         {
         case 0: // turn left or right.
            gmtl::Vec3f q;
            q.set( 0.0f, value, 0.0f );
            mNavigator->torque( q );
            break;
         }
      }

      virtual void xformInput( unsigned int id, const gmtl::Matrix44f& value ) {}

      virtual void setCollisionDetector( CollisionDetectorPtr& detect )
      {
         TravelMethod::setCollisionDetector( detect );
         mTireForce->setCollisionDetector( detect );
         mCollider->setCollisionDetector( detect );
      }
      
      
      virtual void setPosition( const gmtl::Matrix44f& value )
      {
         gmtl::Vec3f pos;
         gmtl::Quatf rot;
         gmtl::setTrans( pos, value );
         gmtl::set( rot, value );

         mAvatar->setPosition( pos );
         mAvatar->setRotation( rot );
      }

      virtual gmtl::Matrix44f getPosition()
      {
         gmtl::Matrix44f mat;
         gmtl::set( mat, mAvatar->rotation() );
         gmtl::setTrans( mat, (gmtl::Vec3f)mAvatar->position() );
         return mat;
      }
      
   protected:
      // physics system
      boost::shared_ptr< TireForceOperator >         mTireForce;
      boost::shared_ptr< DriveNavigationOperator >   mNavigator;
      boost::shared_ptr< CollisionResponseOperator > mCollider;
private:

      /*#  Gravity lnkGravity; */

      /*#  TetherOperator lnkTetherOperator; */
protected:
   };
} // end namespace gator

#endif

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