/home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/OpenTissue/OpenTissue/dynamics/mbd/scripted/mbd_oscillation.h

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#ifndef OPENTISSUE_DYNAMICS_MBD_UTIL_SCRIPTED_MBD_OSCILLATION_H
#define OPENTISSUE_DYNAMICS_MBD_UTIL_SCRIPTED_MBD_OSCILLATION_H
//
// OpenTissue, A toolbox for physical based simulation and animation.
// Copyright (C) 2007 Department of Computer Science, University of Copenhagen
//
#include <OpenTissue/configuration.h>

#include <OpenTissue/dynamics/mbd/interfaces/mbd_scripted_motion_interface.h>

namespace OpenTissue
{
  namespace mbd
  {

    template<typename mbd_types>
    class Oscillation 
      : public ScriptedMotionInterface<mbd_types>
    {
    protected:

      typedef typename mbd_types::body_type            body_type;
      typedef typename mbd_types::math_policy          math_policy;
      typedef typename math_policy::value_traits         value_traits;
      typedef typename math_policy::real_type            real_type;
      typedef typename math_policy::vector3_type         vector3_type;
      typedef typename math_policy::quaternion_type      quaternion_type;

    protected:

      vector3_type m_origin;      
      vector3_type m_dir;         
      real_type    m_amplitude;   
      real_type    m_frequency;   
      real_type    m_phase;       

    public:

      Oscillation()
        : m_origin(value_traits::zero(),value_traits::zero(),value_traits::zero())
        , m_dir(value_traits::one(),value_traits::zero(),value_traits::zero())
        , m_amplitude(10*value_traits::one())
        , m_frequency(2*value_traits::pi())
        , m_phase(value_traits::pi())
      {}

      virtual ~Oscillation(){}

    public:

      void compute(body_type const & body,real_type const & time,vector3_type & r,quaternion_type & q, vector3_type & v,vector3_type & w)
      {
        using std::cos;
        using std::sin;

        r = m_dir*m_amplitude*cos(m_frequency*time + m_phase) + m_origin;
        v = - m_dir*m_frequency*m_amplitude*sin(m_frequency*time + m_phase);
        q.identity();
        w.clear();
      }

    public:

      void set_origin(vector3_type const & origin){ m_origin = origin; }

      void get_origin(vector3_type & origin) const { origin = m_origin; }

      void set_direction(vector3_type const & dir) { m_dir = unit(dir); }

      void get_direction(vector3_type & dir) const { dir = m_dir; }

      void set_frequency(real_type const & frequency)
      {
        assert(frequency>=value_traits::zero() || !"Oscillation::set_frequency(): frequency must be non-negative");
        m_frequency = frequency;
      }

      real_type get_frequency() const { return m_frequency; }

      void set_phase(real_type const & phase) { m_phase = phase;  }

      real_type get_phase() const { return m_phase; }

      void set_amplitude(real_type const & amplitude)
      {
        assert(amplitude>=value_traits::zero() || !"Oscillation::set_amplitude(): amplitude must be non-negative");
        m_amplitude = amplitude;
      }

      real_type get_amplitude() const { return m_amplitude; }

    };

  } // namespace mbd
} // namespace OpenTissue
// OPENTISSUE_DYNAMICS_MBD_UTIL_SCRIPTED_MBD_OSCILLATION_H
#endif