H3DThreadedHapticsDevice.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 __H3DTHREADEDHAPTICSDEVICE_H__
#define __H3DTHREADEDHAPTICSDEVICE_H__

#include "H3DHapticsDevice.h"
#include "ThreadSafeFields.h"

namespace H3D {

  class H3DAPI_API H3DThreadedHapticsDevice: public H3DHapticsDevice {
  public:

    H3DThreadedHapticsDevice( 
          Inst< ThreadSafeSField< SFVec3f > > _devicePosition = 0,
          Inst< ThreadSafeSField< 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< ThreadSafeSField< SFBool > > _main_button = 0,
          Inst< ThreadSafeSField< SFVec3f > > _force      = 0,
          Inst< ThreadSafeSField< SFVec3f > > _torque     = 0,
          Inst< SFInt32         > _inputDOF               = 0,
          Inst< SFInt32         > _outputDOF              = 0,
          Inst< SFInt32         > _hapticsRate            = 0,
          Inst< SFNode          > _stylus                 = 0,
          Inst< SFBool          > _initialized            = 0 );

    virtual ~H3DThreadedHapticsDevice() {
      disableDevice();
    }

    virtual void initDevice();

    virtual void disableDevice();

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

    virtual void renderEffects( const HapticEffectVector &effects );
#endif
    
    static H3DNodeDatabase database;

#ifdef USE_HAPTICS
    inline HapticEffectVector &getCurrentForceEffects() {
      return current_force_effects;
    }

    inline HapticEffectVector &getLastForceEffects() {
      return last_force_effects;
    }
#endif

    virtual void updateDeviceValues();

  protected:
    virtual Vec3f getPosition() = 0;

    virtual Vec3f getVelocity() = 0;

    virtual Rotation getOrientation() = 0;

    virtual bool getButtonStatus() = 0;

    virtual void sendForce( const Vec3f &f ) = 0;

    virtual void sendTorque( const Vec3f &f ) = 0;

#ifdef USE_HAPTICS
    // the force effects that are currently rendered in the realtime loop.
    // Should not be changed directly from the scenegraph loop but instead
    // use the renderEffects function to set the effects.
    HapticEffectVector current_force_effects;

    // the force effects that was current in the last scene graph loop.
    HapticEffectVector last_force_effects;

    // the shapes that are currently being rendered in the realtime loop.
    HapticShapeVector current_shapes;
#endif

    unsigned int nr_haptics_loops;

    // The time of the last call to updateDeviceValues.
    TimeStamp last_update_values;

    TimeStamp last_effect_change;
    
    TimeStamp last_loop_time;

    static PeriodicThread::CallbackCode forceEffectCallback( void *data );

    static PeriodicThread::CallbackCode changeForceEffects( void *_data ); 
  };
}

#endif

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