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00001 // Spherus.h: interface for the Spherus class. 00002 // 00004 00005 #ifndef SPHERUS_H 00006 #define SPHERUS_H 00007 00008 00009 #include "PhysicalObject.h" 00010 #include "VisualSensor.h" 00011 00012 00013 class Controller; 00014 class Circle; 00015 00022 class Spherus : public PhysicalObject { 00023 public: 00024 Spherus(real x, real y, real alpha=0.0, real extension=0.6, real R=0.1, Controller* controller=NULL); 00025 virtual ~Spherus(); 00026 00027 00029 real R; 00030 00032 real extension; 00033 00035 Circle* circles[2]; 00036 00037 VisualSensor* eyes[2]; 00038 00039 real rocketActivations[2]; 00040 real rocketForceValues[2]; 00041 Vector2 rocketForces[2]; 00042 real extensionActivation; 00043 00045 real targetExtension; 00046 00049 void computeState(); 00050 00051 real sinAlpha, cosAlpha; 00052 00053 void computeSinCos(); 00054 00055 void computeMemberPositions(); 00056 00057 void computeCircleProprioception(Circle* circle, float& forward, float& backward); 00058 00059 virtual void computeDerivativesWithoutContacts(ContactSolver* contactSolver); 00060 virtual void computeDerivatives(GlobalContactInfoVector* globalContacts); 00061 virtual void integrate(const Integrator &integrator); 00062 virtual void controll(); 00063 00064 virtual bool detectContacts(PhysicalObject* object, GlobalContactInfoVector* contacts); 00065 virtual void detectInternalContacts(GlobalContactInfoVector* contacts); 00066 virtual void deleteContacts(); 00067 virtual bool detectMouseContact(const Vector2& rMouse, Vector2& p, PhysicalObject*& object); 00068 00069 00070 void draw(GUI *gui); 00071 00072 static const unsigned int nSensors; 00073 static const unsigned int nEffectors; 00074 00075 Controller* controller; 00076 00077 }; 00078 00079 #endif //SPHERUS_H
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