OmniDriver.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                             *
******************************************************************************/
#ifndef SOFA_COMPONENT_ODESOLVER_OMNISOLVER_H
#define SOFA_COMPONENT_ODESOLVER_OMNISOLVER_H

#include <sofa/core/componentmodel/behavior/OdeSolver.h>
#include <sofa/simulation/common/OdeSolverImpl.h>
#include <sofa/simulation/tree/GNode.h>
#include <sofa/component/linearsolver/NewMatMatrix.h>
#include <sofa/component/linearsolver/NewMatVector.h>
#include <sofa/component/MechanicalObject.h>
#include <sofa/defaulttype/VecTypes.h>
#include <sofa/defaulttype/RigidTypes.h>
#include <sofa/component/container/ArticulatedHierarchyContainer.h>

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

#include <sofa/core/componentmodel/behavior/BaseController.h>
//Sensable include
#include <HD/hd.h>
#include <HDU/hduVector.h>
#include <HDU/hduError.h>
#include <sofa/helper/LCPcalc.h>

namespace sofa
{

namespace component
{

namespace controller
{


using namespace sofa::defaulttype;
using namespace sofa::component::linearsolver;
using core::objectmodel::Data;

typedef struct {
    int nupdates;
    HDboolean m_buttonState1;       /* Has the device button has been pressed. */
    HDboolean m_buttonState2;       /* Has the device button has been pressed. */
    hduVector3Dd m_devicePosition; /* Current device coordinates. */
    HDErrorInfo m_error;
    Vec3d pos;
    Quat quat;
    bool ready;
    bool stop;
} DeviceData;

typedef struct {
    ForceFeedback* forceFeedback;
    simulation::tree::GNode *context;
    Mat3x3d rotation;
    Vec3d translation;
    double scale;
    double forceScale;
    DeviceData servoDeviceData;
    DeviceData deviceData;
} OmniData;

class OmniDriver : public core::componentmodel::behavior::BaseController
{

public:
    Data<double> scale;
    Data<double> forceScale;
    Data<Vec3d> position;
    Data<Vec3d> orientation;

    simulation::tree::GNode *context; //->propagateEvent()
    //ForceFeedback* forceFeedback;
    OmniData* data;
    void init();
    void reinit();
    void setForceFeedback(ForceFeedback* ff);
    OmniDriver();
    ~OmniDriver();
    void cleanup();
private:
    void handleEvent(core::objectmodel::Event *);
};

} // namespace controller

} // namespace component

} // namespace sofa

#endif