HLCustomObject.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 __HLCUSTOMOBJECT_H__
#define __HLCUSTOMOBJECT_H__

#include "H3DTypes.h"
#include "HLShape.h"

namespace H3D {

  
  class H3DAPI_API HLCustomObject: public HLShape {
  public:
  #ifdef HAVE_OPENHAPTICS
    virtual bool intersectSurface( const Vec3f &start_point, 
                                   const Vec3f &end_point,
                                   Vec3f &intersection_point, 
                                   Vec3f &intersection_normal,
                                   HLenum &face ) = 0;

    virtual bool closestFeature( const Vec3f &query_point, 
                                 const Vec3f &target_point,
                                 HLgeom *geom,
                                 Vec3f &closest_point ) = 0;
#endif
    virtual void hlRender( HLHapticsDevice *hd );

#ifdef HAVE_OPENHAPTICS
  protected:
    static HLboolean HLCALLBACK intersectCallback( 
                                      const HLdouble *start_point, 
                                      const HLdouble *end_point,
                                      HLdouble *intersection_point, 
                                      HLdouble *intersection_normal,
                                      HLenum* face,
                                      void *user_data ) {
      HLCustomObject* object = static_cast<HLCustomObject*>( user_data );
      Vec3f ip, in;
      HLboolean b = object->intersectSurface( Vec3f((H3DFloat)start_point[0], 
                                                    (H3DFloat)start_point[1], 
                                                    (H3DFloat)start_point[2] ), 
                                              Vec3f((H3DFloat)end_point[0],
                                                    (H3DFloat)end_point[1],
                                                    (H3DFloat)end_point[2] ),
                                              ip, 
                                              in, 
                                              *face );
      intersection_point[0] = ip.x;
      intersection_point[1] = ip.y;
      intersection_point[2] = ip.z;

      intersection_normal[0] = in.x;
      intersection_normal[1] = in.y;
      intersection_normal[2] = in.z;

      return b;
    }

    static HLboolean HLCALLBACK closestFeaturesCallback( 
                                       const HLdouble *query_point, 
                                       const HLdouble *target_point, 
                                       HLgeom *geom,
                                       HLdouble *closest_point,
                                       void* user_data ) {
      HLCustomObject* object = static_cast<HLCustomObject*>( user_data );

      Vec3f cp, cn;
      HLboolean b = object->closestFeature( Vec3f( (H3DFloat)query_point[0],
                                                   (H3DFloat)query_point[1],
                                                   (H3DFloat)query_point[2] ),
                                            Vec3f( (H3DFloat)target_point[0],
                                                   (H3DFloat)target_point[1],
                                                   (H3DFloat)target_point[2]),
                                            geom,
                                            cp );
      closest_point[0] = cp.x;
      closest_point[1] = cp.y;
      closest_point[2] = cp.z;

      return b;
    }
    #endif
  };
}

#endif

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