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cylinder.cc

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/*
  svas_server -- virtual World Server of Svas
  Copyright (c) 2001, 2002 David Moreno Montero
 
 
  This program is free software; you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation; either version 2 of the License, or
  (at your option) any later version.
 
  This program is distributed in the hope that it will be useful, but
  WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  General Public License for more details.
 
  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
  02111-1307, USA.  

*/

#include <thread.h>
#include <math.h>
#include "cylinder.h"
#include "log.h"
#include "world.h"
#include "agent.h"
#include "collision.h"

/**
 * It constructs the cylinder with the desired energy,
 * mass and position.
 *
 * There is also an Id of the cylinder into the agent. The main
 * cylinder is id=0, the rest are one more number, till 255, where no
 * more cylinders will be created.
 */
Cylinder::Cylinder(World *_world, Cylinder *_father,
           double newEnergy, double newWidth, double newHeight, 
           Vector3d newGluePositionBody, bool onAgent){
  energy=newEnergy;
  width=newWidth;
  height=newHeight;
  mass=2*M_PI*width*width*height;

  if (onAgent)
    father=_father;
  world=_world;

  if (NULL==_father){ /// If I dont have father I'm rather anonymous, but @see setNewAgent()
    gluePosition=position=newGluePositionBody;
    gluePositionBody=Vector3d(0,0,0);
    orientationBase=Quaternion(Vector3d(0,1,0),0.1).normalize(); // Extrange orientation, to avoid staying up forever
    orientationWorld=orientationBase.toWorld(Vector3d(0,0,1));
    orientationWorld.normalize();

    agent=NULL;
    cylinderId=0;
  }
  else{ /// If I have father I depend from him...
    //    log <<newGluePositionBody.Y()<<endl;
    orientationBase=_father->orientationBase*
      Quaternion(Vector3d(0,0,1),newGluePositionBody.Y())*
      Quaternion(Vector3d(1,0,0),M_PI/2);

    gluePositionBody=newGluePositionBody;

    orientationWorld=orientationBase.toWorld(Vector3d(0,0,1));

    orientationWorld.normalize();

    gluePosition=position=(_father->orientationWorld*newGluePositionBody.X()*_father->height) + 
      (orientationWorld*_father->radius);

    
    if (onAgent)
      agent=_father->agent;
    else
      agent=NULL;
    cylinderId=agent->getCylinderCount(true);
  }

  /// FIXME to get father properties...
  velocity=Vector3d(0,0,0);
  force=Vector3d(0,0,0);
  moment=Vector3d(0,0,0);
  angularVelocity=Vector3d(0,0,0);

  updateMomentOfInertia();

  world->addCylinder(this);
}

/**
 * Change the agent parent of this cylinder. This is a consecuence of
 * a drop cylinder, when a new agent is born. We must make some little
 * things, but in general nothing important change.
 *
 * This call is only made to the new first-cylinder.
 **/
void Cylinder::setNewAgent(Agent *_agent){
  unsigned long int i;

  // As it's done in reverse order, even (*this) is changed
  for (i=getNumCylinders();i--;){
    (*this)(i)->cylinderId=i;
    (*this)(i)->agent=_agent;
  }
  gluePosition=Vector3d(0,0,0);
  position=getPosition();

  father=NULL;
}

/** 
 * Free a little dynamically allocated memory
 */
Cylinder::~Cylinder(){
  unsigned int i;
  for (i=son.size();i--;)
    delete son[i];
  world->delCylinder(this);
}

/**
 * Returns the cylinder with id=n, or NULL if there is not one
 */
Cylinder *Cylinder::operator[](unsigned short int n){
  if (cylinderId==n)
    return this;
  unsigned long int i;
  for (i=son.size();i--;){
    Cylinder *ret;
    ret=(*son[i])[n];
    if (NULL!=ret)
      return ret;
  }
  return NULL;
}

/**
 * Returns the cylinder number=n, in this agent, or NULL if there is not one
 */
Cylinder *Cylinder::operator()(unsigned short int n, unsigned short int &actual){
  if (n==actual)
    return this;
  unsigned long int i;
  for (i=son.size();i--;){
    Cylinder *ret;
    actual++;
    ret=(*son[i])(n, actual);
    if (NULL!=ret)
      return ret;
  }
  return NULL;
}

/**
 * Returns the number of cylinders that hangs from this one plus this
 * one
 */
unsigned short int Cylinder::getNumCylinders(){
  unsigned int i;
  unsigned short int n=0;
  for (i=son.size();i--;)
    n+=son[i]->getNumCylinders();
  return n+1;
}

/**
 * Returns the distance between two cylinders, assuming that this is
 * the father of cyl (-1 if not)
 */
signed short int Cylinder::dist(Cylinder *cyl){
  unsigned int i;
  signed int j;
  for (i=son.size();i--;)
    if (son[i]==cyl)
      return 1;
    else{
      j=son[i]->dist(cyl);
      if (j>0)
    return j+1;
    }
  return -1;
}

/**
 * Returns the position of the cylinder:
 *
 * * if relative is true, it returns the position relative to its parent,
 *
 * * if it's false, returns it relative to the world
 */
Vector3d Cylinder::getPosition(bool relative){ 
  if (relative)
    return position;
  
  if (father!=NULL)
    return position+(father->getPosition(false));
  else
    return position;
};

/**
 * Returns the glue position of the cylinder:
 *
 * * if relative is true, it returns the position relative to its parent,
 *
 * * if it's false, returns it relative to the world
 */
Vector3d Cylinder::getGluePosition(bool relative){ 
  if (relative)
    return gluePosition;
  
  if (father!=NULL)
    return gluePosition+(father->getGluePosition(false));
  else
    return gluePosition;
};

/**
 * Returns the centre of gravity. 
 *
 * The centre of gravity is the centre of this and of this sons.
 */
Point3d Cylinder::getCentreOfGravity(void){
  return getPosition()+(orientationWorld*length/2);
}


/**
 * Returns the actual world of this cylinder
 */
World *Cylinder::getWorld(){ 
  return world;
}

/**
 * Reutrns current mass, and, if true, the pending mass
 */
double Cylinder::getMass(bool pending=false){
  if (!pending)
    return mass;
  
  long int i;
  double ret=0;
  for (i=getNumCylinders();i--;){
    ret+=(*this)(i)->getMass();
  }
  return ret;
}

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