ArticulatedHierarchyController.h

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/******************************************************************************
*       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 3      *
*                (c) 2006-2008 MGH, INRIA, USTL, UJF, CNRS                    *
*                                                                             *
* This library is free software; you can redistribute it and/or modify it     *
* under the terms of the GNU Lesser General Public License as published by    *
* the Free Software Foundation; either version 2.1 of the License, or (at     *
* your option) any later version.                                             *
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* This library 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 Lesser General Public License *
* for more details.                                                           *
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* You should have received a copy of the GNU Lesser General Public License    *
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* Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA.          *
*******************************************************************************
*                               SOFA :: Modules                               *
*                                                                             *
* Authors: The SOFA Team and external contributors (see Authors.txt)          *
*                                                                             *
* Contact information: contact@sofa-framework.org                             *
******************************************************************************/
//
// C++ Interface: ArticulatedHierarchyController
//
// Description: 
//
//
// Author: Pierre-Jean Bensoussan, Digital Trainers (2008)
//
// Copyright: See COPYING file that comes with this distribution
//
//

#ifndef SOFA_COMPONENT_CONTROLLER_ARTICULATEDHIERARCHYCONTROLLER_H
#define SOFA_COMPONENT_CONTROLLER_ARTICULATEDHIERARCHYCONTROLLER_H

#include <sofa/component/controller/Controller.h>

#include <sofa/component/container/ArticulatedHierarchyContainer.h>
#include <sofa/core/objectmodel/BaseObject.h>
#include <sofa/helper/vector.h>

#include <map>

namespace sofa
{

namespace component
{

namespace controller
{

using sofa::component::container::ArticulatedHierarchyContainer;

class ArticulatedHierarchyController : public Controller
{
public:
    typedef std::vector< ArticulatedHierarchyContainer::ArticulationCenter * > ArtCenterVec;
    typedef ArtCenterVec::iterator ArtCenterVecIt;
    typedef std::vector< ArticulatedHierarchyContainer::ArticulationCenter::Articulation * > ArtVec;
    typedef ArtVec::iterator ArtVecIt;

    ArticulatedHierarchyController();

    virtual ~ArticulatedHierarchyController(){};

    virtual void init();


    void onMouseEvent(core::objectmodel::MouseEvent *);

    void onKeyPressedEvent(core::objectmodel::KeypressedEvent *);

    void onBeginAnimationStep(void);

    virtual void applyController(void);

protected:
    Data<sofa::helper::vector< int > > articulationsIndices; 
    Data<sofa::helper::vector< char > > bindingKeys; 
    Data< double > angleDelta; 
    Data< bool > propagateUserInteraction; 

    sofa::helper::vector< bool > activeArticulations; 
    std::map<int, sofa::helper::vector< int > > articulationsPropagationChains;

    void buildPropagationArticulationsChain(void);

    void buildArray(std::vector< int > &, ArticulatedHierarchyContainer::ArticulationCenter::Articulation* , ArticulatedHierarchyContainer::ArticulationCenter* );

    void updateActiveArticulationsIndices(const char);

    void dumpActiveArticulations(void) const ;
    void dumpArticulationsAndBindingKeys(void) const;
    //}@

    void resetControler(void);


    enum MouseMode { None=0, BtLeft, BtRight, BtMiddle, Wheel };
    MouseMode mouseMode;

    double signFactor;
    bool propagationChain;

    ArtCenterVec m_artCenterVec; 
};

} // namespace controller

} // namespace component

} // namespace sofa

#endif //SOFA_COMPONENT_CONTROLLER_ARTICULATEDHIERARCHYCONTROLLER_H