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NullForceFeedbackT.h
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NullForceFeedbackT.h
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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 *
******************************************************************************/
#pragma once
#include <sofa/component/haptics/MechanicalStateForceFeedback.h>
namespace sofa::component::haptics
{
/// @brief Null force feedback for haptic feedback device
template<class TDataTypes>
class SOFA_COMPONENT_HAPTICS_API NullForceFeedbackT : public MechanicalStateForceFeedback<TDataTypes>
{
typedef TDataTypes DataTypes;
typedef typename DataTypes::VecCoord VecCoord;
typedef typename DataTypes::VecDeriv VecDeriv;
public:
SOFA_CLASS(SOFA_TEMPLATE(NullForceFeedbackT,TDataTypes),MechanicalStateForceFeedback<TDataTypes>);
void init() override {this->ForceFeedback::init();}
void computeForce(SReal, SReal, SReal, SReal, SReal, SReal, SReal, SReal& fx, SReal& fy, SReal& fz) override
{
fx = fy = fz = 0.0;
}
void computeForce(const VecCoord &, VecDeriv &) override {}
void computeWrench(const sofa::type::Transform<SReal> &, const sofa::type::SpatialVector<SReal> &, sofa::type::SpatialVector<SReal> &W_tool_world ) override {W_tool_world.clear();}
};
} // namespace sofa::component::haptics