Initial commit.

player.h

@@ -0,0 +1,117 @@
+// -*- C++ -*-
+
+#ifndef MBOSTOCK_PLAYER_H
+#define MBOSTOCK_PLAYER_H
+
+#include <vector>
+
+#include "model.h"
+#include "physics/particle.h"
+#include "physics/shape.h"
+#include "physics/vector.h"
+
+namespace mbostock {
+
+  class Player;
+  class RoomObject;
+  class UnaryForce;
+
+  class PlayerModel : public Model {
+  public:
+    PlayerModel(const Player& player);
+    virtual ~PlayerModel();
+
+    virtual void initialize();
+    virtual void display();
+
+  private:
+    float* orientation();
+    void displayAxes();
+
+    const Player& player_;
+    GLUquadric* quadric_;
+    float orientation_[16];
+    Model* wheelModel_;
+    Model* bodyModel_;
+
+    friend class PlayerWheelModel;
+    friend class PlayerBodyModel;
+  };
+
+  class Player {
+  public:
+    Player();
+
+    enum Direction { NONE, LEFT, RIGHT, FORWARD, BACKWARD };
+
+    void move(Direction d);
+    void stop(Direction d);
+    void stop();
+    void jiggle();
+    void setOrigin(const Vector& origin);
+    void setVelocity(const Vector& velocity);
+
+    void resetForces();
+    void applyForce(UnaryForce& force);
+    void step(const ParticleSimulator& s);
+    bool intersects(const Shape& s);
+    bool constrainOutside(const RoomObject& o);
+    void constrainInternal();
+
+    float mass() const;
+
+    inline const Vector& x() const { return x_; }
+    inline const Vector& y() const { return y_; }
+    inline const Vector& z() const { return z_; }
+    inline const Vector& origin() const { return origin_; }
+    inline float leftWheelAngle() const { return leftWheel_.angle; }
+    inline float rightWheelAngle() const { return rightWheel_.angle; }
+
+    bool leftWheelFriction() const { return leftWheel_.friction(); }
+    bool rightWheelFriction() const { return rightWheel_.friction(); }
+
+    inline Model& model() { return model_; }
+
+  private:
+    class Wheel : public Particle {
+    public:
+      Wheel();
+
+      inline bool friction() const { return contact; }
+      void applyContact(const RoomObject& o);
+      void applyForce(const Vector& z, float f);
+      void applyLinearDrag(float kd);
+      void applyQuadraticDrag(float kd);
+      void constrainDirection(const Vector& z);
+
+      bool contact;
+      Vector contactNormal;
+      Vector contactVelocity;
+
+      float angle;
+      float angleStep;
+    };
+
+    void constrainGlancing(const RoomObject& o);
+    void constrainBody();
+
+    Wheel leftWheel_;
+    Wheel rightWheel_;
+    Particle body_;
+    Particle counterWeight_;
+
+    Direction turnState_;
+    Direction moveState_;
+
+    Sphere sphere_;
+    Vector origin_;
+    Vector x_;
+    Vector y_;
+    Vector z_;
+
+    PlayerModel model_;
+  };
+
+}
+
+#endif