/usr/include/sofa/component/controller/MechanicalStateController.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 library is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by *
* the Free Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. *
* *
* This library 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 Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
*******************************************************************************
* SOFA :: Modules *
* *
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
//
// C++ Interface: MechanicalStateController
//
// Description:
//
//
// Author: Pierre-Jean Bensoussan, Digital Trainers (2008)
//
// Copyright: See COPYING file that comes with this distribution
//
//
#ifndef SOFA_COMPONENT_CONTROLLER_MECHANICALSTATECONTROLLER_H
#define SOFA_COMPONENT_CONTROLLER_MECHANICALSTATECONTROLLER_H
#include <sofa/component/controller/Controller.h>
#include <sofa/defaulttype/VecTypes.h>
#include <sofa/defaulttype/RigidTypes.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/component/component.h>
namespace sofa
{
namespace component
{
namespace controller
{
using namespace sofa::defaulttype;
/**
* @brief MechanicalStateController Class
*
* Provides a Mouse & Keyboard user control on a Mechanical State.
* On a Rigid Particle, relative and absolute control is available.
*/
template<class DataTypes>
class MechanicalStateController : public Controller
{
public:
typedef typename DataTypes::VecCoord VecCoord;
typedef typename DataTypes::VecDeriv VecDeriv;
typedef typename DataTypes::Coord Coord ;
typedef typename DataTypes::Deriv Deriv ;
typedef typename Coord::value_type Real ;
/**
* @brief Default Constructor.
*/
MechanicalStateController();
/**
* @brief Default Destructor.
*/
virtual ~MechanicalStateController(){};
/**
* @brief SceneGraph callback initialization method.
*/
void init();
/**
* @name Controller Interface
*/
//@{
/**
* @brief Mouse event callback.
*/
void onMouseEvent(core::objectmodel::MouseEvent *mev);
/**
* @brief Omni event callback.
*/
void onOmniEvent(core::objectmodel::OmniEvent *mev);
/**
* @brief Begin Animation event callback.
*/
void onBeginAnimationStep();
//@}
/**
* @name Accessors
*/
//@{
/**
* @brief Return the controlled MechanicalState.
*/
core::componentmodel::behavior::MechanicalState<DataTypes> *getMechanicalState(void) const;
/**
* @brief Set a MechanicalState to the controller.
*/
void setMechanicalState(core::componentmodel::behavior::MechanicalState<DataTypes> *);
/**
* @brief Return the index of the controlled DOF of the MechanicalState.
*/
unsigned int getIndex(void) const;
/**
* @brief Set the index of the controlled DOF of the MechanicalState.
*/
void setIndex(const unsigned int);
/**
* @brief Set the direction of the controlled DOF corresponding to the Mouse vertical axis.
*/
void setMainDirection(const sofa::defaulttype::Vec<3,Real>);
/**
* @brief Return the direction of the controlled DOF corresponding to the Mouse vertical axis.
*/
const sofa::defaulttype::Vec<3,Real> &getMainDirection() const;
//@}
/**
* @brief Apply the controller modifications to the controlled MechanicalState.
*/
void applyController(void);
virtual std::string getTemplateName() const
{
return templateName(this);
}
static std::string templateName(const MechanicalStateController<DataTypes>* = NULL)
{
return DataTypes::Name();
}
protected:
Data< unsigned int > index; ///< Controlled DOF index.
Data< bool > onlyTranslation; ///< Controlling the DOF only in translation
core::componentmodel::behavior::MechanicalState<DataTypes> *mState; ///< Controlled MechanicalState.
sofa::defaulttype::Vec<3,Real> mainDirection; ///< Direction corresponding to the Mouse vertical axis. Default value is (0.0,0.0,-1.0), Z axis.
DataPtr< sofa::defaulttype::Vec<3,Real> > mainDirectionPtr; ///< Warning ! Only 3d Rigid DOFs can use this mainDirection.
enum MouseMode { None=0, BtLeft, BtRight, BtMiddle, Wheel }; ///< Mouse current mode.
bool omni;
MouseMode mouseMode;
int eventX, eventY; ///< Mouse current position in pixel
double omniX, omniY, omniZ;
int mouseSavedPosX, mouseSavedPosY; ///< Last recorded mouse position
Vector3 position;
Quat orientation;
bool buttonOmni;
};
#if defined(WIN32) && !defined(SOFA_COMPONENT_CONTROLLER_MECHANICALSTATECONTROLLER_CPP)
#pragma warning(disable : 4231)
#ifndef SOFA_FLOAT
//extern template class SOFA_COMPONENT_CONTROLLER_API MechanicalStateController<defaulttype::Vec3dTypes>;
//extern template class SOFA_COMPONENT_CONTROLLER_API MechanicalStateController<defaulttype::Vec2dTypes>;
extern template class SOFA_COMPONENT_CONTROLLER_API MechanicalStateController<defaulttype::Vec1dTypes>;
//extern template class SOFA_COMPONENT_CONTROLLER_API MechanicalStateController<defaulttype::Vec6dTypes>;
extern template class SOFA_COMPONENT_CONTROLLER_API MechanicalStateController<defaulttype::Rigid3dTypes>;
//extern template class SOFA_COMPONENT_CONTROLLER_API MechanicalStateController<defaulttype::Rigid2dTypes>;
#endif
#ifndef SOFA_DOUBLE
//extern template class SOFA_COMPONENT_CONTROLLER_API MechanicalStateController<defaulttype::Vec3fTypes>;
//extern template class SOFA_COMPONENT_CONTROLLER_API MechanicalStateController<defaulttype::Vec2fTypes>;
extern template class SOFA_COMPONENT_CONTROLLER_API MechanicalStateController<defaulttype::Vec1fTypes>;
//extern template class SOFA_COMPONENT_CONTROLLER_API MechanicalStateController<defaulttype::Vec6fTypes>;
extern template class SOFA_COMPONENT_CONTROLLER_API MechanicalStateController<defaulttype::Rigid3fTypes>;
//extern template class SOFA_COMPONENT_CONTROLLER_API MechanicalStateController<defaulttype::Rigid2fTypes>;
#endif
#endif
} // namespace controller
} // namespace component
} // namespace sofa
#endif // SOFA_COMPONENT_CONTROLLER_MECHANICALSTATECONTROLLER_H
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