TransformationVisitor.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_SIMULATION_INSTRUMENTACTION_H
#define SOFA_SIMULATION_INSTRUMENTACTION_H

#if !defined(__GNUC__) || (__GNUC__ > 3 || (_GNUC__ == 3 && __GNUC_MINOR__ > 3))
#pragma once
#endif

#include <sofa/simulation/common/Visitor.h>
#include <sofa/defaulttype/Vec.h>
#include <sofa/defaulttype/Quat.h>
#include <sofa/core/VisualModel.h>

namespace sofa
{

namespace simulation
{
  using namespace sofa::defaulttype;

class TransformationVisitor : public Visitor
{
public:
    TransformationVisitor() 
      {
        translation = Vector3();
        rotation = Vector3();
        scale = (SReal)1.0;
      }
        
    void setTranslation(SReal dx, SReal dy, SReal dz){ translation = Vector3(dx,dy,dz);}    
    void setRotation(SReal rx, SReal ry, SReal rz){    rotation=Vector3(rx,ry,rz);  }
    void setScale(SReal s){scale = s;}

    
    void processVisualModel(simulation::Node* node, core::VisualModel* v);
    void processMechanicalState(simulation::Node* node, core::componentmodel::behavior::BaseMechanicalState* m);
    virtual Result processNodeTopDown(simulation::Node* node);

    virtual bool isThreadSafe() const { return true; }

    virtual const char* getCategoryName() const { return "instrument"; }
    
 protected:
    Vector3 translation;
        Vector3 rotation;           
    SReal scale;
};

} // namespace simulation

} // namespace sofa

#endif