ForceFeedback.h

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00001 /******************************************************************************
00002 *       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 3      *
00003 *                (c) 2006-2008 MGH, INRIA, USTL, UJF, CNRS                    *
00004 *                                                                             *
00005 * This library is free software; you can redistribute it and/or modify it     *
00006 * under the terms of the GNU Lesser General Public License as published by    *
00007 * the Free Software Foundation; either version 2.1 of the License, or (at     *
00008 * your option) any later version.                                             *
00009 *                                                                             *
00010 * This library is distributed in the hope that it will be useful, but WITHOUT *
00011 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
00012 * FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
00013 * for more details.                                                           *
00014 *                                                                             *
00015 * You should have received a copy of the GNU Lesser General Public License    *
00016 * along with this library; if not, write to the Free Software Foundation,     *
00017 * Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA.          *
00018 *******************************************************************************
00019 *                               SOFA :: Modules                               *
00020 *                                                                             *
00021 * Authors: The SOFA Team and external contributors (see Authors.txt)          *
00022 *                                                                             *
00023 * Contact information: contact@sofa-framework.org                             *
00024 ******************************************************************************/
00025 #ifndef SOFA_COMPONENT_CONTROLLER_FORCEFEEDBACK_H
00026 #define SOFA_COMPONENT_CONTROLLER_FORCEFEEDBACK_H
00027 
00028 #include <sofa/core/componentmodel/behavior/OdeSolver.h>
00029 #include <sofa/simulation/common/OdeSolverImpl.h>
00030 #include <sofa/simulation/tree/GNode.h>
00031 #include <sofa/component/linearsolver/NewMatMatrix.h>
00032 #include <sofa/component/linearsolver/NewMatVector.h>
00033 #include <sofa/component/MechanicalObject.h>
00034 #include <sofa/defaulttype/VecTypes.h>
00035 #include <sofa/defaulttype/RigidTypes.h>
00036 #include <sofa/component/container/ArticulatedHierarchyContainer.h>
00037 
00038 #include <sofa/core/componentmodel/behavior/BaseController.h>
00039 
00040 namespace sofa
00041 {
00042 
00043 namespace component
00044 {
00045 
00046 namespace controller
00047 {
00048 
00052   class ForceFeedback : public core::componentmodel::behavior::BaseController
00053 {
00054 
00055 public:
00056 
00057     Data<bool> f_activate;
00058 
00059     simulation::tree::GNode *context;
00060 
00061     ForceFeedback():
00062     f_activate(initData(&f_activate, false, "activate", "boolean to activate or desactivate the forcefeedback"))
00063     {
00064     }
00065 
00066     virtual void init() {context = dynamic_cast<simulation::tree::GNode *>(this->getContext());};
00067     virtual void computeForce(double x, double y, double z, double u, double v, double w, double q, double& fx, double& fy, double& fz) = 0;
00068 };
00069 
00070 } // namespace controller
00071 
00072 } // namespace component
00073 
00074 } // namespace sofa
00075 
00076 #endif