H3DHapticsDevice.h

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//    Copyright 2004, SenseGraphics AB
//
//    This file is part of H3D API.
//
//    H3D API 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.
//
//    H3D API 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 H3D API; if not, write to the Free Software
//    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
//
//    A commercial license is also available. Please contact us at 
//    www.sensegraphics.com for more information.
//
//
//
#ifndef __H3DHAPTICSDEVICE_H__
#define __H3DHAPTICSDEVICE_H__

#include "H3DApi.h"
#include "FieldTemplates.h"
#include "HapticShape.h"
#include "HapticForceEffect.h"
#include "SFNode.h"
#include "Threads.h"
#include "SFRotation.h"
#include "SFFloat.h"
#include "SFInt32.h"
#include "SFBool.h"
#include "SFMatrix4f.h"
#include "SFVec3f.h"

namespace H3D {

  class H3DAPI_API H3DHapticsDevice: public Node {
  public:

    class H3DAPI_API PosCalibration: 
      public SFMatrix4f {
    public:
      virtual void setValue( const Matrix4f &v, int id = 0 ) {
        SFMatrix4f::setValue( v, id );
        rt_pos_calibration = value;
        rt_inv_pos_rotation = rt_pos_calibration.getRotationPart().inverse();
      }

      inline virtual void update() {
        SFMatrix4f::update();
        rt_pos_calibration = value;
        rt_inv_pos_rotation = rt_pos_calibration.getRotationPart().inverse();
      }

      Matrix4f rt_pos_calibration;
      
      Matrix3f rt_inv_pos_rotation;
    };

    class H3DAPI_API OrnCalibration: 
      public SFRotation {
    public:
      inline virtual void setValue( const Rotation &v, int id = 0 ) {
        SFRotation::setValue( v, id );
        rt_orn_calibration = value;
      }

      virtual void update() {
        SFRotation::update();
        rt_orn_calibration = value;
      }

      Rotation rt_orn_calibration;
    };

    class H3DAPI_API TrackerPosition: 
      public TypedField< SFVec3f, Types< SFMatrix4f, SFVec3f > > {
      
      virtual void update() {
        const Matrix4f &m  = 
          static_cast< SFMatrix4f * >( routes_in[0] )->getValue();
        const Vec3f &d_pos = 
          static_cast< SFVec3f * >( routes_in[1] )->getValue();
        value = m * d_pos;
      }
    };

    class H3DAPI_API TrackerOrientation: 
      public TypedField< SFRotation, Types< SFRotation, SFRotation > > {

      virtual void update() {
        const Rotation &cal  = 
          static_cast< SFRotation * >( routes_in[0] )->getValue();
        const Rotation &d_orn = 
          static_cast< SFRotation * >( routes_in[1] )->getValue();
        value = cal * d_orn;
      }
  
    };

    class H3DAPI_API WeightedProxy:
      public TypedField< SFVec3f, Types< SFVec3f, SFVec3f, SFFloat > > {
      virtual void update() {
        const Vec3f &proxy_pos   = 
          static_cast< SFVec3f * >( routes_in[0] )->getValue();
        const Vec3f &tracker_pos = 
          static_cast< SFVec3f * >( routes_in[1] )->getValue();
        H3DFloat weighting = 
          static_cast< SFFloat * >( routes_in[2] )->getValue();
        value =  tracker_pos + weighting * ( proxy_pos - tracker_pos );
      }
    };

    H3DHapticsDevice( Inst< SFVec3f         > _devicePosition         = 0,
                   Inst< SFRotation      > _deviceOrientation      = 0,
                   Inst< TrackerPosition > _trackerPosition        = 0,
                   Inst< TrackerOrientation > _trackerOrientation  = 0,
                   Inst< PosCalibration  > _positionCalibration    = 0,
                   Inst< OrnCalibration  > _orientationCalibration = 0,
                   Inst< SFVec3f         > _proxyPosition          = 0,
                   Inst< WeightedProxy   > _weightedProxyPosition  = 0,     
                   Inst< SFFloat         > _proxyWeighting         = 0,
                   Inst< SFBool          > _main_button            = 0,
                   Inst< SFVec3f         > _force                  = 0,
                   Inst< SFVec3f         > _torque                 = 0,
                   Inst< SFInt32         > _inputDOF               = 0,
                   Inst< SFInt32         > _outputDOF              = 0,
                   Inst< SFInt32         > _hapticsRate            = 0,
                   Inst< SFNode          > _stylus                 = 0,
                   Inst< SFBool          > _initialized            = 0 );

    virtual ~H3DHapticsDevice() {
      disableDevice();
      if( thread )
        delete thread;
    }

    inline Vec3f getPreviousProxyPosition() { return previuos_proxy_pos; }

    virtual string defaultXMLContainerField() {
      return "device";
    }

    virtual void initDevice() {
      initialized->setValue( true );
    }

    inline PeriodicThreadBase *getThread() { return thread; }

    virtual void resetDevice() {}

    virtual void disableDevice() {
      initialized->setValue( false );
    }

    virtual void updateDeviceValues() {
      previuos_proxy_pos = proxyPosition->getValue();
    }

    virtual void preRender() {}

    virtual void postRender() {}

#ifdef USE_HAPTICS
    virtual void renderShapes( const HapticShapeVector &shapes ) {};

    virtual void renderEffects( const HapticEffectVector &effects ) {};
#endif
    
    auto_ptr< SFVec3f >    devicePosition;

    auto_ptr< SFRotation > deviceOrientation;
    
    auto_ptr< TrackerPosition >    trackerPosition;

    auto_ptr< TrackerOrientation > trackerOrientation;

    auto_ptr< PosCalibration > positionCalibration;

    auto_ptr< OrnCalibration > orientationCalibration;

    auto_ptr< SFVec3f >   proxyPosition;

    auto_ptr< SFVec3f >   weightedProxyPosition;

    auto_ptr< SFFloat >   proxyWeighting;

    auto_ptr< SFBool >   mainButton;

    auto_ptr< SFVec3f >    force;

    auto_ptr< SFVec3f >    torque;

    auto_ptr< SFInt32 >   inputDOF;

    auto_ptr< SFInt32 >   outputDOF;

    auto_ptr< SFInt32 >   hapticsRate;
    
    auto_ptr< SFNode > stylus;

    auto_ptr< SFBool > initialized;
    
    static H3DNodeDatabase database;
  protected:
    Vec3f previuos_proxy_pos;

    PeriodicThreadBase *thread;
  };
}

#endif

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