ClutchedDevice.h

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//    Copyright 2011-2019, SenseGraphics AB
//
//    Any use, or distribution, of this file without permission from the
//    copyright holders is strictly prohibited. Please contact SenseGraphics,
//    www.sensegraphics.com, for more information.
//
//
//
#ifndef __CLUTCHEDDEVICE_H__
#define __CLUTCHEDDEVICE_H__
 
#include <H3D/H3DHapticsDevice.h>
 
namespace H3D {
 
  class H3DAPI_API ClutchedDevice: public H3DHapticsDevice {
  public:
    typedef TypedSFNode<H3DHapticsDevice> SFHapticsDevice;
 
    class EnableClutch: public AutoUpdate< OnValueChangeSField< SFBool > > {
      virtual void onValueChange( const bool &value );
    };
 
    class ResetClutchOrientation: public AutoUpdate< OnNewValueSField< SFBool > > {
      virtual void onNewValue( const bool &value );
    };
 
    class ResetClutchPosition: public AutoUpdate< OnNewValueSField< SFBool > > {
      virtual void onNewValue( const bool &value );
    };
 
    ClutchedDevice( 
            Inst< SFVec3f            > _devicePosition         = 0,
            Inst< SFRotation         > _deviceOrientation      = 0,
            Inst< TrackerPosition    > _trackerPosition        = 0,
            Inst< TrackerOrientation > _trackerOrientation     = 0,
            Inst< SFMatrix4f         > _positionCalibration    = 0,
            Inst< SFRotation         > _orientationCalibration = 0,
            Inst< SFVec3f            > _proxyPosition          = 0,
            Inst< WeightedProxy      > _weightedProxyPosition  = 0,     
            Inst< SFFloat            > _proxyWeighting         = 0,
            Inst< SFBool             > _mainButton             = 0,
            Inst< SFBool             > _secondaryButton        = 0,
            Inst< SFInt32            > _buttons                = 0,
            Inst< SFVec3f            > _force                  = 0,
            Inst< SFVec3f            > _torque                 = 0,
            Inst< SFInt32            > _inputDOF               = 0,
            Inst< SFInt32            > _outputDOF              = 0,
            Inst< SFInt32            > _hapticsRate            = 0,
            Inst< SFInt32            > _desiredHapticsRate     = 0,
            Inst< SFNode             > _stylus                 = 0,
            Inst< SFHapticsDevice    > _hapticsDevice          = 0,
            Inst< EnableClutch       > _enableClutch           = 0,
            Inst< ResetClutchOrientation > _resetClutchOrientation = 0,
            Inst< ResetClutchPosition > _resetClutchPosition       = 0,
            Inst< SFVec3f            > _unclutchedPosition     = 0,
            Inst< SFRotation         > _unclutchedOrientation  = 0 );
 
 
    virtual ~ClutchedDevice();
    virtual void initialize ();
 
    virtual ErrorCode initDevice();
 
    virtual ErrorCode releaseDevice();
 
    virtual void renderShapes( const HapticShapeVector &shapes, 
                               unsigned int layer = 0 );
 
    virtual void updateDeviceValues();
 
    static H3DHapticsDevice* getActualHapticsDevice ( H3DHapticsDevice& d ) {
      if ( ClutchedDevice* cd= dynamic_cast<ClutchedDevice*>(&d) ) {
        return cd->hapticsDevice->getValue();
      } else {
        return &d;
      }
    }
 
    H3DUniquePtr<SFHapticsDevice> hapticsDevice;
 
    H3DUniquePtr < EnableClutch > enableClutch;
 
    H3DUniquePtr< ResetClutchOrientation > resetClutchOrientation;
 
    H3DUniquePtr< ResetClutchPosition > resetClutchPosition;
 
    H3DUniquePtr < SFVec3f > unclutchedPosition;
 
    H3DUniquePtr < SFRotation > unclutchedOrientation;
 
    static H3DNodeDatabase database;
 
  };
}
 
#endif