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LCPForceFeedback.cpp
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LCPForceFeedback.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 *
******************************************************************************/
#define SOFA_COMPONENT_CONTROLLER_LCPFORCEFEEDBACK_CPP
#include <sofa/component/haptics/LCPForceFeedback.inl>
#include <sofa/core/ObjectFactory.h>
#include <sofa/defaulttype/RigidTypes.h>
namespace sofa::component::haptics
{
using sofa::defaulttype::Rigid3Types;
template <>
void LCPForceFeedback< Rigid3Types >::computeForce(SReal x, SReal y, SReal z, SReal, SReal, SReal, SReal, SReal& fx, SReal& fy, SReal& fz)
{
Rigid3Types::VecCoord state;
Rigid3Types::VecDeriv forces;
state.resize(1);
state[0].getCenter() = sofa::type::Vec3(x,y,z);
computeForce(state,forces);
fx = getVCenter(forces[0]).x();
fy = getVCenter(forces[0]).y();
fz = getVCenter(forces[0]).z();
}
template <>
void LCPForceFeedback< Rigid3Types >::computeWrench(const sofa::type::Transform<SReal> &world_H_tool,
const sofa::type::SpatialVector<SReal> &/*V_tool_world*/,
sofa::type::SpatialVector<SReal> &W_tool_world )
{
if (!this->d_activate.getValue())
{
return;
}
Rigid3Types::VecCoord state;
Rigid3Types::VecDeriv forces;
state.resize(1);
state[0].getCenter() = world_H_tool.getOrigin();
state[0].getOrientation() = world_H_tool.getOrientation();
computeForce(state,forces);
W_tool_world.setForce(getVCenter(forces[0]));
W_tool_world.setTorque(getVOrientation(forces[0]));
}
int lCPForceFeedbackClass = sofa::core::RegisterObject("LCP force feedback for the device")
.add< LCPForceFeedback<defaulttype::Vec1Types> >()
.add< LCPForceFeedback<defaulttype::Rigid3Types> >();
template class SOFA_COMPONENT_HAPTICS_API LCPForceFeedback<defaulttype::Vec1Types>;
template class SOFA_COMPONENT_HAPTICS_API LCPForceFeedback<defaulttype::Rigid3Types>;
} // namespace sofa::component::haptics