00001 //=========================================================================== 00002 /* 00003 This file is part of the CHAI 3D visualization and haptics libraries. 00004 Copyright (C) 2003-2009 by CHAI 3D. All rights reserved. 00005 00006 This library is free software; you can redistribute it and/or modify 00007 it under the terms of the GNU General Public License("GPL") version 2 00008 as published by the Free Software Foundation. 00009 00010 For using the CHAI 3D libraries with software that can not be combined 00011 with the GNU GPL, and for taking advantage of the additional benefits 00012 of our support services, please contact CHAI 3D about acquiring a 00013 Professional Edition License. 00014 00015 \author <http://www.chai3d.org> 00016 \author Francois Conti 00017 \version 2.0.0 $Rev: 251 $ 00018 */ 00019 //=========================================================================== 00020 00021 //--------------------------------------------------------------------------- 00022 #ifndef CPotentialFieldForceAlgoH 00023 #define CPotentialFieldForceAlgoH 00024 //--------------------------------------------------------------------------- 00025 #include "forces/CGenericPointForceAlgo.h" 00026 #include "forces/CInteractionBasics.h" 00027 //--------------------------------------------------------------------------- 00028 00029 //=========================================================================== 00037 //=========================================================================== 00038 00039 //=========================================================================== 00048 //=========================================================================== 00049 class cPotentialFieldForceAlgo : public cGenericPointForceAlgo 00050 { 00051 public: 00052 00053 //----------------------------------------------------------------------- 00054 // CONSTRUCTOR & DESTRUCTOR: 00055 //----------------------------------------------------------------------- 00056 00058 cPotentialFieldForceAlgo(); 00059 00061 virtual ~cPotentialFieldForceAlgo() {}; 00062 00063 00064 //----------------------------------------------------------------------- 00065 // METHODS: 00066 //----------------------------------------------------------------------- 00067 00069 void initialize(cWorld* a_world, const cVector3d& a_initialPos) { m_world = a_world; }; 00070 00072 virtual cVector3d computeForces(const cVector3d& a_toolPos, const cVector3d& a_toolVel); 00073 00075 cInteractionSettings m_interactionSettings; 00076 00078 cInteractionRecorder m_interactionRecorder; 00079 00080 00081 private: 00082 00083 //----------------------------------------------------------------------- 00084 // MEMBERS: 00085 //----------------------------------------------------------------------- 00086 00088 unsigned int m_IDN; 00089 00091 static unsigned int m_IDNcounter; 00092 }; 00093 00094 //--------------------------------------------------------------------------- 00095 #endif 00096 //---------------------------------------------------------------------------