HapticForceEffect.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 __HAPTICFORCEEFFECT_H__
#define __HAPTICFORCEEFFECT_H__

#include "HapticObject.h" 
#include "RefCountedClass.h"

namespace H3D {

  class H3DAPI_API HapticForceEffect: public HapticObject, 
                                      public RefCountedClass {
  public:
    struct H3DAPI_API EffectInput {
      EffectInput( const Vec3f &pos = Vec3f( 0,0,0 ),
                   const Vec3f &vel = Vec3f( 0,0,0 ),
                   const Rotation &orn = Rotation(),
                   const TimeStamp &dt = 0 ) :
        position( pos ),
        velocity( vel ),
        orientation( orn ),
        deltaT( dt ) {}
      
      Vec3f position;
      Vec3f velocity;
      Rotation orientation;
      TimeStamp deltaT;
    };

    struct H3DAPI_API EffectOutput {
      EffectOutput( const Vec3f _force = Vec3f( 0,0,0 ),
                    const Vec3f _torque = Vec3f( 0,0,0 ) ) :
        force( _force ),
        torque( _torque ) {}
      
      Vec3f force;
      Vec3f torque;
      
      EffectOutput operator +( const EffectOutput &o ) {
        return EffectOutput( force + o.force,
                             torque + o.torque );
      }

      EffectOutput operator *( float f ) {
        return EffectOutput( force * f,
                             torque *f );
      }

      EffectOutput operator *( double f ) {
        return EffectOutput( force * f,
                             torque *f );
      }
    };
    
    HapticForceEffect( const H3D::ArithmeticTypes::Matrix4f & _transform,
                       bool _interpolate ):
      HapticObject( _transform ),
      interpolate( _interpolate ){}
    
    EffectOutput virtual calculateForces( const EffectInput &input ) {
      return EffectOutput();
    }
    
    virtual ~HapticForceEffect() {}

    bool isInterpolated() {
      return interpolate;
    }

  protected:
    bool interpolate;
  };
}

#endif

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