Gear.cpp

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#include "Gear.h"
 
#include "Mapping/DiscreteElementsToTriangleSet.h"
#include "GLSurfaceVisualModule.h"
 
namespace dyno
{
    //Gear
    IMPLEMENT_TCLASS(Gear, TDataType)
 
    template<typename TDataType>
    Gear<TDataType>::Gear() :
        ArticulatedBody<TDataType>()
    {
        auto mapper = std::make_shared<DiscreteElementsToTriangleSet<DataType3f>>();
        this->stateTopology()->connect(mapper->inDiscreteElements());
        this->graphicsPipeline()->pushModule(mapper);
 
        auto sRender = std::make_shared<GLSurfaceVisualModule>();
        sRender->setColor(Color(1, 1, 0));
        sRender->setAlpha(0.5f);
        mapper->outTriangleSet()->connect(sRender->inTriangleSet());
        this->graphicsPipeline()->pushModule(sRender);
    }
 
    template<typename TDataType>
    Gear<TDataType>::~Gear()
    {
 
    }
 
    template<typename TDataType>
    void Gear<TDataType>::resetStates()
    {
        this->clearRigidBodySystem();
        this->clearVechicle();
 
        std::string filename = getAssetPath() + "gear/gear_up.obj";
        if (this->varFilePath()->getValue() != filename)
        {
            this->varFilePath()->setValue(FilePath(filename));
        }
 
        //first gear
        RigidBodyInfo info;
        info.position = Vec3f(0.445f, 1.204f, -0.151);
        info.angularVelocity = Vec3f(1, 0, 0);
        info.motionType = BodyType::Kinematic;
        info.bodyId = 0;
        auto actor = this->createRigidBody(info);
 
        CapsuleInfo capsule;
        capsule.rot = Quat1f(M_PI / 2, Vec3f(0, 0, 1));
        capsule.radius = 0.05f;
        capsule.halfLength = 0.26f;
 
        float r = 0.798f;
        for (uint sec = 0; sec < 24; sec++)
        {
            float theta = sec * M_PI / 12 + 0.115;
            float y = r * sin(theta);
            float z = r * cos(theta);
 
            capsule.center = Vec3f(-0.042f, y, z);
            this->bindCapsule(actor, capsule);
        }
 
        this->bind(actor, Pair<uint, uint>(0, 0));
 
        //**************************************************//
        ArticulatedBody<TDataType>::resetStates();
    }
 
    DEFINE_CLASS(Gear);
}