/usr/include/projects/SensAble/SensAble.h is in libsofa1-dev 1.0~beta4-6.
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* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS *
* *
* This program is free software; you can redistribute it and/or modify it *
* under the terms of the GNU General Public License as published by the Free *
* Software Foundation; either version 2 of the License, or (at your option) *
* any later version. *
* *
* This program is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for *
* more details. *
* *
* You should have received a copy of the GNU General Public License along *
* with this program; if not, write to the Free Software Foundation, Inc., 51 *
* Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. *
*******************************************************************************
* SOFA :: Applications *
* *
* Authors: M. Adam, J. Allard, B. Andre, P-J. Bensoussan, S. Cotin, C. Duriez,*
* H. Delingette, F. Falipou, F. Faure, S. Fonteneau, L. Heigeas, C. Mendoza, *
* M. Nesme, P. Neumann, J-P. de la Plata Alcade, F. Poyer and F. Roy *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#ifndef SOFA_CONTRIB_TESTING_SENSABLE_H
#define SOFA_CONTRIB_TESTING_SENSABLE_H
#include <iostream>
#include <sofa/core/BehaviorModel.h>
#include <sofa/core/VisualModel.h>
#include <sofa/core/CollisionModel.h>
#include <sofa/component/collision/SphereModel.h>
#include <sofa/component/container/MechanicalObject.h>
#include <sofa/core/objectmodel/Event.h>
#include <sofa/defaulttype/VecTypes.h>
#include <sofa/defaulttype/RigidTypes.h>
#include <sofa/defaulttype/Mat.h>
#include <sofa/defaulttype/Quat.h>
#include <sofa/helper/Quater.h>
using std::cout;
class SensAble : public sofa::core::VisualModel, public sofa::core::BehaviorModel
{
public:
SensAble();
~SensAble();
// -- VisualModel interface
void draw();
void initTextures() { }
void update() { }
Data<sofa::defaulttype::Vec3d> translation;
Data<sofa::defaulttype::Quat> rotation;
Data<double> scale;
Data<double> tipOffset;
Data<sofa::defaulttype::RigidTypes::Coord> xform;
Data<sofa::defaulttype::RigidTypes::Coord> xform2;
Data<sofa::defaulttype::Vec3d> pivot;
Data<bool> flip;
Data<bool> bDraw;
Data<char> key1; bool button1State;
Data<char> key2; bool button2State;
sofa::defaulttype::Mat3x3d mrotation;
sofa::component::collision::SphereModel* sphereModel;
sofa::component::MechanicalObject<sofa::defaulttype::RigidTypes>* rigidModel;
// -- CollisionModel interface
/*
virtual std::vector<CollisionElement*> & getCollisionElements();
virtual CollisionModel* getNext() { return sphereModel->getNext(); }
virtual CollisionModel* getPrevious() { return sphereModel->getPrevious(); }
virtual BehaviorModel* getObject() { return sphereModel->getObject(); }
*/
// -- BehaviorModel interface (these would conflict with DynamicModel!)
virtual void init();
virtual void reinit();
virtual void handleEvent(sofa::core::objectmodel::Event* event);
/// Computation of a new simulation step.
virtual void updatePosition(double dt);
sofa::defaulttype::Vector3 currentForce;
};
#endif
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