PhantomDevice.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 __PHANTOMDEVICE_H__
#define __PHANTOMDEVICE_H__
 
#include <H3D/H3DHapticsDevice.h>
#include <H3D/MFString.h>
#include <H3D/SFString.h>
#include <H3D/SFDouble.h>
#include <H3D/MFVec3f.h>
#include <H3D/MFDouble.h>
 
namespace H3D {
 
  class H3DAPI_API PhantomDevice: public H3DHapticsDevice {
  public:
 
    class H3DAPI_API Calibrate: public AutoUpdate< OnValueChangeSField< SFBool > > {
      virtual void onValueChange( const bool &_value );
    };
 
    PhantomDevice( 
            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< SFString           > _deviceName             = 0,
            Inst< SFBool             > _inInkwell              = 0 );
    
    virtual ErrorCode initDevice();
 
    virtual ErrorCode releaseDevice();
 
 
    virtual ErrorCode enableDevice();
 
    virtual void updateDeviceValues();
 
    virtual void initialize();
 
    virtual void postInit();
 
    H3DUniquePtr< SFString > deviceName;
 
    H3DUniquePtr< SFString > HDAPIVersion;
 
    H3DUniquePtr< SFString > deviceModelType;
 
    H3DUniquePtr< SFString > deviceDriverVersion;
 
    H3DUniquePtr< SFDouble > deviceFirmwareVersion;
 
    H3DUniquePtr< SFString > deviceVendor;
 
    H3DUniquePtr< SFString > deviceSerialNumber;
 
    H3DUniquePtr< MFVec3f > maxWorkspaceDimensions;
 
    H3DUniquePtr< MFVec3f > usableWorkspaceDimensions;
 
    H3DUniquePtr< SFFloat > tabletopOffset;
 
    H3DUniquePtr< SFFloat > maxForce;
 
    H3DUniquePtr< SFFloat > maxContinuousForce;
 
    H3DUniquePtr< SFVec3f > gimbalAngles;
 
    H3DUniquePtr< SFVec3f > jointAngles;
 
    H3DUniquePtr< SFBool > needsCalibration;
 
    H3DUniquePtr< Calibrate > calibrate;
 
    H3DUniquePtr< MFDouble > motorTemperatures;
 
    H3DUniquePtr< MFDouble > encoderValues;
 
    H3DUniquePtr< SFBool > inInkwell;
 
    static H3DNodeDatabase database;
 
    protected:
      static unsigned int nr_initialized_devices;
      static bool started_scheduler;
      static unsigned int render_shapes_called;
  };
}
 
#endif