SpaceWareHapticsDevice.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 __SPACEWAREHAPTICSDEVICE_H__
#define __SPACEWAREHAPTICSDEVICE_H__

#include "SpaceWareSensor.h"
#include "H3DFakeHapticsDevice.h"

namespace H3D {

  class H3DAPI_API SpaceWareHapticsDevice: public H3DFakeHapticsDevice {
  public:
    class SetMainButton: public TypedField< ThreadSafeSField< SFBool >,
                         Types< SFInt32 > > {
      virtual void update();
    };

    SpaceWareHapticsDevice( 
         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,
         Inst< ThreadSafeSField< SFVec3f >         > _set_devicePosition     = 0,
         Inst< ThreadSafeSField< SFRotation >     > _set_deviceOrientation  = 0,
         Inst< SetMainButton   > _set_mainButton         = 0,
         Inst< SFFloat         > _posSensitivity         = 0,
         Inst< SFFloat         > _ornSensitivity         = 0);

    virtual void updateDeviceValues() {
      H3DFakeHapticsDevice::updateDeviceValues();
      vector< H3DHapticsDevice * > hds;
#ifdef USE_HAPTICS
      TraverseInfo ti( hds );
      spaceware_sensor->traverseSG( ti );
#endif
    }
    
    static H3DNodeDatabase database;
    
    auto_ptr< SFFloat > posSensitivity;

    auto_ptr< SFFloat > ornSensitivity;

  protected:
    AutoRef< SpaceWareSensor > spaceware_sensor;
  };
}

#endif

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