File indexing completed on 2025-04-27 06:48:53

 /*
     SPDX-FileCopyrightText: 2007 Vladimir Kuznetsov <ks.vladimir@gmail.com>
 
     SPDX-License-Identifier: GPL-2.0-or-later
 */
 
 /** \file motor.h
  *  \brief LinearMotor class
  */
 
 #ifndef STEPCORE_MOTOR_H
 #define STEPCORE_MOTOR_H
 
 #include "world.h"
 #include "object.h"
 #include "constants.h"
 #include "types.h"
 
 
 namespace StepCore
 {
 
 class Particle;
 class RigidBody;
 
 /** \ingroup forces
  *  \brief Linear motor: applies a force at given position on the body
  */
 class LinearMotor : public Force
 {
     STEPCORE_OBJECT(LinearMotor)
 
 public:
     /** Constructs LinearMotor */
     explicit LinearMotor(Object* body = nullptr, const Vector2d& localPosition = Vector2d::Zero(),
                         const Vector2d &forceValue = Vector2d::Zero());
 
     void calcForce(bool calcVariances) override;
 
     /** Get pointer to the body */
     Object* body() const { return _body; }
     /** Set pointer to the connected body */
     void setBody(Object* body);
 
     /** Local position of the motor on the body
      *  or in the world (if the motor is not connected) */
     const Vector2d& localPosition() const { return _localPosition; }
     /** Set local position of the motor on the body
      *  or in the world (if the motor is not connected) */
     void setLocalPosition(const Vector2d& localPosition) { _localPosition = localPosition; }
 
     /** Position of the motor */
     Vector2d position() const;
 
     /** Whether the motor is rigidly fixed to the body */
     bool isRigidlyFixed() const { return _rigidlyFixed; }
     /** Sets whether the motor is rigidly fixed to the body, i.e. rotates the
      *  force vector in sync with body rotation */
     void setRigidlyFixed(bool fixed) { _rigidlyFixed = fixed; }
 
     /** Get force value */
     const Vector2d& forceValue() const { return _forceValue; }
     /** Set force value */
     void setForceValue(const Vector2d& forceValue) { _forceValue = forceValue; }
 
     //void worldItemRemoved(Item* item);
     //void setWorld(World* world);
         
 protected:
     Object*  _body;
     Vector2d _localPosition;
     Vector2d _forceValue;
     double   _lastBodyAngle = 0;
     bool     _rigidlyFixed = false;
 
     Particle*  _p;
     RigidBody* _r;
 };
 
 /** \ingroup forces
  *  \brief Circular motor: applies a torque to the body
  */
 class CircularMotor : public Force
 {
     STEPCORE_OBJECT(CircularMotor)
 
 public:
     /** Constructs CircularMotor */
     explicit CircularMotor(Object* body = nullptr, const Vector2d& localPosition = Vector2d::Zero(),
                                             double torqueValue = 0);
 
     void calcForce(bool calcVariances) override;
 
     /** Get pointer to the body */
     Object* body() const { return _body; }
     /** Set pointer to the connected body */
     void setBody(Object* body);
 
     /** Local position of the motor on the body
      *  or in the world (if the motor is not connected) */
     Vector2d localPosition() const;
     /** Set local position of the motor on the body
      *  or in the world (if the motor is not connected) */
     void setLocalPosition(const Vector2d& localPosition) {
         _localPosition = localPosition;
     }
 
     /** Position of the motor */
     Vector2d position() const;
 
     /** Get torque value */
     double torqueValue() const { return _torqueValue; }
     /** Set torque value */
     void setTorqueValue(const double torqueValue) { _torqueValue = torqueValue; }
 
     //void worldItemRemoved(Item* item);
     //void setWorld(World* world);
         
 protected:
     Object*  _body;
     Vector2d _localPosition;
     double   _torqueValue;
 
     RigidBody* _r;
 };
 
 
 } // namespace StepCore
 
 #endif