-
Notifications
You must be signed in to change notification settings - Fork 299
/
ForceFeedback.h
68 lines (55 loc) · 3.09 KB
/
ForceFeedback.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
/******************************************************************************
* 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 *
******************************************************************************/
#pragma once
#include <sofa/component/haptics/config.h>
#include <sofa/simulation/fwd.h>
#include <sofa/core/behavior/BaseController.h>
#include <sofa/type/Transform.h>
#include <sofa/defaulttype/RigidTypes.h>
namespace sofa::component::haptics
{
/// Base class implementing forcefeedback as a force field
class SOFA_COMPONENT_HAPTICS_API ForceFeedback : public virtual core::behavior::BaseController
{
public:
SOFA_ABSTRACT_CLASS(ForceFeedback,core::behavior::BaseController);
Data<bool> d_activate; ///< boolean to activate or deactivate the forcefeedback
Data<int> d_indice; ///< Tool indice in the OmniDriver
simulation::Node *context;
void init() override;
virtual void computeForce(SReal x, SReal y, SReal z,
SReal u, SReal v, SReal w,
SReal q, SReal& fx, SReal& fy, SReal& fz) = 0;
virtual void computeWrench(const sofa::type::Transform<SReal> &,
const sofa::type::SpatialVector<SReal> &,
sofa::type::SpatialVector<SReal> & )=0;
virtual void setReferencePosition(sofa::type::Transform<SReal>& referencePosition);
virtual bool isEnabled();
/// Abstract method to lock or unlock the force feedback computation. To be implemented by child class if needed
virtual void setLock(bool value)
{
SOFA_UNUSED(value);
}
protected:
ForceFeedback();
};
} // namespace sofa::component::haptics