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ForceFeedback.cpp
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ForceFeedback.cpp
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/******************************************************************************
* SOFA, Simulation Open-Framework Architecture *
* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
* *
* This program 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 program 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 program. If not, see <http://www.gnu.org/licenses/>. *
*******************************************************************************
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#include <sofa/component/haptics/ForceFeedback.h>
#include <sofa/simulation/Node.h>
namespace sofa::component::haptics
{
ForceFeedback::ForceFeedback():
d_activate(initData(&d_activate, false, "activate", "boolean to activate or deactivate the forcefeedback"))
, d_indice(initData(&d_indice, 0, "indice", "Tool indice in the OmniDriver"))
{
}
void ForceFeedback::init()
{
context = sofa::simulation::node::getNodeFrom(getContext());
}
void ForceFeedback::setReferencePosition(sofa::type::Transform<SReal>& referencePosition)
{
SOFA_UNUSED(referencePosition);
}
bool ForceFeedback::isEnabled() {
return this->getContext()->isActive();
}
} // namespace sofa::component::haptics