ForceDimensionDevice.h

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//    Copyright 2004-2019, SenseGraphics AB
//
//    This file is part of H3D API.
//
//    H3D API is free software; you can redistribute it and/or modify
//    it under the terms of the GNU General Public License as published by
//    the Free Software Foundation; either version 2 of the License, or
//    (at your option) any later version.
//
//    H3D API 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 General Public License for more details.
//
//    You should have received a copy of the GNU General Public License
//    along with H3D API; if not, write to the Free Software
//    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
//
//    A commercial license is also available. Please contact us at 
//    www.sensegraphics.com for more information.
//
//
//
#ifndef __FORCEDIMENSIONDEVICE_H__
#define __FORCEDIMENSIONDEVICE_H__
 
#include <H3D/H3DHapticsDevice.h>
#include <H3D/MFString.h>
#include <H3D/PeriodicUpdate.h>
#include <H3D/SFVec3d.h>
 
namespace H3D {
 
  class H3DAPI_API ForceDimensionDevice: public H3DHapticsDevice {
  public:
 
    class H3DAPI_API Reset: public OnNewValueSField< SFBool > {
      virtual void onNewValue( const bool &v );
    };
 
    class H3DAPI_API WaitReset: public OnNewValueSField< SFBool > {
      virtual void onNewValue( const bool &v );
    };
 
    class H3DAPI_API GravityComp: public OnValueChangeSField< SFBool > {
      virtual void onValueChange( const bool &v );
    };
 
    class H3DAPI_API EffectorMass: public OnValueChangeSField< SFFloat > {
      virtual void onValueChange( const H3DFloat &v );
    };
 
    class H3DAPI_API Brakes: public OnValueChangeSField< SFBool > {
      virtual void onValueChange( const bool &v );
    };
 
    class H3DAPI_API EnableForce: public OnValueChangeSField< SFBool > {
    public:
      EnableForce(): OnValueChangeSField< SFBool >(), call_hapi_function( true ) {}
    
      bool call_hapi_function;
    protected:
      virtual void onValueChange( const bool &v );
    };
 
    class H3DAPI_API SFAutoCalibrate: public OnNewValueSField< SFBool > {
      virtual void onNewValue( const bool &v );
    };
 
    class H3DAPI_API SFReleasePosition: public OnNewValueSField< SFVec3d > {
    public:
      SFReleasePosition() : value_is_set( false ) {}
 
      bool value_is_set;
 
    protected:
      virtual void onNewValue( const Vec3d &v );
    };
 
    ForceDimensionDevice( 
            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< SFHapticsRendererNode > _hapticsRenderer     = 0,
            Inst< MFVec3f            > _proxyPositions         = 0,
            Inst< SFBool             > _followViewpoint        = 0, 
            Inst< GravityComp        > _useGravityCompensation = 0,
            Inst< Reset              > _reset                  = 0,
            Inst< WaitReset          > _waitForReset           = 0,
            Inst< EffectorMass       > _endEffectorMass        = 0,
            Inst< Brakes             > _useBrakes              = 0,
            Inst< SFInt32            > _deviceType             = 0,
            Inst< EnableForce        > _enableForce            = 0,
            Inst< SFFloat            > _vibrationFrequency     = 0,
            Inst< SFFloat            > _vibrationAmplitude     = 0,
            Inst< SFFloat            > _gripperAngle           = 0,
            Inst< SFAutoCalibrate    > _autoCalibrate          = 0,
            Inst< SFBool             > _isAutoCalibrated       = 0,
            Inst< SFInt32            > _desiredComThreadRate   = 0,
            Inst< SFFloat            > _gripperForce           = 0,
            Inst< SFBool             > _flipGripperValues      = 0,
            Inst< SFReleasePosition  > _releaseDevicePosition  = 0 );
 
    virtual ErrorCode initDevice();
 
    virtual ErrorCode releaseDevice();
 
    H3DUniquePtr< SFBool > useGravityCompensation;
 
    H3DUniquePtr< Reset > reset;
 
    H3DUniquePtr< WaitReset > waitForReset;
 
    H3DUniquePtr< SFFloat > endEffectorMass;
 
    H3DUniquePtr< SFBool > useBrakes;
 
    H3DUniquePtr< SFInt32 > deviceType;
 
    H3DUniquePtr< EnableForce > enableForce;
 
    static H3DNodeDatabase database;
 
    H3DUniquePtr< SFFloat > vibrationFrequency;
 
    H3DUniquePtr< SFFloat > vibrationAmplitude;
 
    H3DUniquePtr< SFFloat > gripperAngle;
 
    virtual void updateDeviceValues();
 
    protected:
    class H3DAPI_API ChangeVibration: public PeriodicUpdate< TypedField< SFBool, Types< SFFloat, SFFloat > > > {
    protected:
      virtual void update();
    };
 
    H3DUniquePtr< ChangeVibration > changeVibration;
    
    public:
    H3DUniquePtr< SFAutoCalibrate > autoCalibrate;
 
    H3DUniquePtr< SFBool > isAutoCalibrated;
 
    H3DUniquePtr< SFInt32 > desiredComThreadRate;
 
    H3DUniquePtr< SFFloat > gripperForce;
 
    H3DUniquePtr< SFBool > flipGripperValues;
 
    H3DUniquePtr< SFReleasePosition > releaseDevicePosition;
 
    virtual void initialize();
  };
}
 
#endif