MechanicalStateController.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.                                             *
*                                                                             *
* 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.                                                           *
*                                                                             *
* You should have received a copy of the GNU Lesser General Public License    *
* along with this library; if not, write to the Free Software Foundation,     *
* 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: MechanicalStateController
//
// Description:
//
//
// Author: Pierre-Jean Bensoussan, Digital Trainers (2008)
//
// Copyright: See COPYING file that comes with this distribution
//
//

#ifndef SOFA_COMPONENT_CONTROLLER_MECHANICALSTATECONTROLLER_H
#define SOFA_COMPONENT_CONTROLLER_MECHANICALSTATECONTROLLER_H

#include <sofa/component/controller/Controller.h>
#include <sofa/defaulttype/Vec3Types.h>
#include <sofa/defaulttype/Quat.h>

namespace sofa { namespace core { namespace componentmodel { namespace behavior { template<class DataTypes> class MechanicalState; } } } }


namespace sofa
{

namespace component
{

namespace controller
{
    
using namespace sofa::defaulttype;

template<class DataTypes>
class MechanicalStateController : public Controller
{
public:
    typedef typename DataTypes::VecCoord VecCoord;
    typedef typename DataTypes::VecDeriv VecDeriv;
    typedef typename DataTypes::Coord    Coord   ;
    typedef typename DataTypes::Deriv    Deriv   ;
    typedef typename Coord::value_type   Real    ;

    MechanicalStateController();

    virtual ~MechanicalStateController(){};

    void init();


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

    void onOmniEvent(core::objectmodel::OmniEvent *mev);

    void onBeginAnimationStep();



    core::componentmodel::behavior::MechanicalState<DataTypes> *getMechanicalState(void) const;

    void setMechanicalState(core::componentmodel::behavior::MechanicalState<DataTypes> *);

    unsigned int getIndex(void) const;

    void setIndex(const unsigned int);

    void setMainDirection(const sofa::defaulttype::Vec<3,Real>);

    const sofa::defaulttype::Vec<3,Real> &getMainDirection() const;


    void applyController(void);

        virtual std::string getTemplateName() const
        {
          return templateName(this);
        }

        static std::string templateName(const MechanicalStateController<DataTypes>* = NULL)
        {
          return DataTypes::Name();
        }
protected:

    Data< unsigned int > index; 
    core::componentmodel::behavior::MechanicalState<DataTypes> *mState; 

    sofa::defaulttype::Vec<3,Real> mainDirection; 
    DataPtr< sofa::defaulttype::Vec<3,Real> > mainDirectionPtr; 

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

    int eventX, eventY; 
    double omniX, omniY, omniZ;
    int mouseSavedPosX, mouseSavedPosY; 
    Vector3 position;
    Quat orientation;   
};

} // namespace controller

} // namespace component

} // namespace sofa

#endif // SOFA_COMPONENT_CONTROLLER_MECHANICALSTATECONTROLLER_H