frictiontransform.h

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/* @@@LICENSE
*
*      Copyright (c) 2010-2012 Hewlett-Packard Development Company, L.P.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
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#ifndef FRICTIONTRANSFORM_H_
#define FRICTIONTRANSFORM_H_

#include "linearmotiontransform.h"

class FrictionTransform : public LinearMotionTransform
{
        Q_OBJECT
public:
        FrictionTransform();
        virtual ~FrictionTransform();

        virtual void    restart(const qreal newStartTime=0.0);

        qreal                   setInitialForce(const qreal force);                     //can specify by either force or accel+mass
        qreal                   setInitialAcceleration(const qreal accel);
        qreal                   setObjectMass(const qreal mass);
        qreal                   setInitialMomentTime(const qreal time);
        qreal                   setCoeffKineticFriction(const qreal coeffKinFriction);
        qreal                   coeffKineticFriction() const;
        qreal                   initialForce() const;
        qreal                   initialAcceleration() const;
        qreal                   objectMass() const;
        qreal                   initialMomentTime() const;

        virtual qreal   displacement(const qreal time);
        virtual qreal   velocity(const qreal time);
        virtual qreal   acceleration(const qreal time);

        virtual void    vec(const qreal time,qreal& d,qreal& v, qreal& a);
        virtual QVector<qreal> vec(const qreal time);

        virtual qreal   haltTime() const;

        virtual void    setReverse();
        virtual void    setForward();

public Q_SLOTS:

        virtual void slotTimetic(const qreal absTime=0);        //absolute time coordinate (increasing)

protected:

        virtual void parametersChanged();

        //PARAMETERS
        qreal m_initialAcceleration;
        qreal m_objectMass;
        qreal m_forceMomentTime;
        qreal m_reverse;                //-1.0 to let the displacement go in reverse

        qreal m_coeffFrictionKinetic;

        //INVARIANTS
        qreal m_coeffFrictionStatic;
        qreal m_gravityAccel;

        qreal m_computedInitialVelocity;
        qreal m_computedAccelStaticFriction;
        qreal m_computedAccelKineticFriction;
        qreal m_computedGrindToHaltTime;
        qreal m_computedFinalDisplacement;
};

#endif /* FRICTIONTRANSFORM_H_ */