/usr/include/sofa/component/controller/MechanicalStateController.h is in libsofa1-dev 1.0~beta4-12.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 | /******************************************************************************
* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS *
* *
* This library 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 library 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 library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
*******************************************************************************
* SOFA :: Modules *
* *
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
//
// C++ Interface: MechanicalStateController
//
// Description:
//
//
// Author: Pierre-Jean Bensoussan, Digital Trainers (2008)
//
// Copyright: See COPYING file that comes with this distribution
//
//
#ifndef SOFA_COMPONENT_CONTROLLER_MECHANICALSTATECONTROLLER_H
#define SOFA_COMPONENT_CONTROLLER_MECHANICALSTATECONTROLLER_H
#include <sofa/component/controller/Controller.h>
#include <sofa/defaulttype/VecTypes.h>
#include <sofa/defaulttype/RigidTypes.h>
#include <sofa/core/componentmodel/behavior/MechanicalState.h>
#include <sofa/component/component.h>
namespace sofa
{
namespace component
{
namespace controller
{
using namespace sofa::defaulttype;
/**
* @brief MechanicalStateController Class
*
* Provides a Mouse & Keyboard user control on a Mechanical State.
* On a Rigid Particle, relative and absolute control is available.
*/
template<class DataTypes>
class MechanicalStateController : public Controller
{
public:
typedef typename DataTypes::VecCoord VecCoord;
typedef typename DataTypes::VecDeriv VecDeriv;
typedef typename DataTypes::Coord Coord ;
typedef typename DataTypes::Deriv Deriv ;
typedef typename Coord::value_type Real ;
/**
* @brief Default Constructor.
*/
MechanicalStateController();
/**
* @brief Default Destructor.
*/
virtual ~MechanicalStateController(){};
/**
* @brief SceneGraph callback initialization method.
*/
void init();
/**
* @name Controller Interface
*/
//@{
/**
* @brief Mouse event callback.
*/
void onMouseEvent(core::objectmodel::MouseEvent *mev);
/**
* @brief Omni event callback.
*/
void onOmniEvent(core::objectmodel::OmniEvent *mev);
/**
* @brief Begin Animation event callback.
*/
void onBeginAnimationStep();
//@}
/**
* @name Accessors
*/
//@{
/**
* @brief Return the controlled MechanicalState.
*/
core::componentmodel::behavior::MechanicalState<DataTypes> *getMechanicalState(void) const;
/**
* @brief Set a MechanicalState to the controller.
*/
void setMechanicalState(core::componentmodel::behavior::MechanicalState<DataTypes> *);
/**
* @brief Return the index of the controlled DOF of the MechanicalState.
*/
unsigned int getIndex(void) const;
/**
* @brief Set the index of the controlled DOF of the MechanicalState.
*/
void setIndex(const unsigned int);
/**
* @brief Set the direction of the controlled DOF corresponding to the Mouse vertical axis.
*/
void setMainDirection(const sofa::defaulttype::Vec<3,Real>);
/**
* @brief Return the direction of the controlled DOF corresponding to the Mouse vertical axis.
*/
const sofa::defaulttype::Vec<3,Real> &getMainDirection() const;
//@}
/**
* @brief Apply the controller modifications to the controlled MechanicalState.
*/
void applyController(void);
virtual std::string getTemplateName() const
{
return templateName(this);
}
static std::string templateName(const MechanicalStateController<DataTypes>* = NULL)
{
return DataTypes::Name();
}
protected:
Data< unsigned int > index; ///< Controlled DOF index.
Data< bool > onlyTranslation; ///< Controlling the DOF only in translation
core::componentmodel::behavior::MechanicalState<DataTypes> *mState; ///< Controlled MechanicalState.
sofa::defaulttype::Vec<3,Real> mainDirection; ///< Direction corresponding to the Mouse vertical axis. Default value is (0.0,0.0,-1.0), Z axis.
DataPtr< sofa::defaulttype::Vec<3,Real> > mainDirectionPtr; ///< Warning ! Only 3d Rigid DOFs can use this mainDirection.
enum MouseMode { None=0, BtLeft, BtRight, BtMiddle, Wheel }; ///< Mouse current mode.
bool omni;
MouseMode mouseMode;
int eventX, eventY; ///< Mouse current position in pixel
double omniX, omniY, omniZ;
int mouseSavedPosX, mouseSavedPosY; ///< Last recorded mouse position
Vector3 position;
Quat orientation;
bool buttonOmni;
};
#if defined(WIN32) && !defined(SOFA_COMPONENT_CONTROLLER_MECHANICALSTATECONTROLLER_CPP)
#pragma warning(disable : 4231)
#ifndef SOFA_FLOAT
//extern template class SOFA_COMPONENT_CONTROLLER_API MechanicalStateController<defaulttype::Vec3dTypes>;
//extern template class SOFA_COMPONENT_CONTROLLER_API MechanicalStateController<defaulttype::Vec2dTypes>;
extern template class SOFA_COMPONENT_CONTROLLER_API MechanicalStateController<defaulttype::Vec1dTypes>;
//extern template class SOFA_COMPONENT_CONTROLLER_API MechanicalStateController<defaulttype::Vec6dTypes>;
extern template class SOFA_COMPONENT_CONTROLLER_API MechanicalStateController<defaulttype::Rigid3dTypes>;
//extern template class SOFA_COMPONENT_CONTROLLER_API MechanicalStateController<defaulttype::Rigid2dTypes>;
#endif
#ifndef SOFA_DOUBLE
//extern template class SOFA_COMPONENT_CONTROLLER_API MechanicalStateController<defaulttype::Vec3fTypes>;
//extern template class SOFA_COMPONENT_CONTROLLER_API MechanicalStateController<defaulttype::Vec2fTypes>;
extern template class SOFA_COMPONENT_CONTROLLER_API MechanicalStateController<defaulttype::Vec1fTypes>;
//extern template class SOFA_COMPONENT_CONTROLLER_API MechanicalStateController<defaulttype::Vec6fTypes>;
extern template class SOFA_COMPONENT_CONTROLLER_API MechanicalStateController<defaulttype::Rigid3fTypes>;
//extern template class SOFA_COMPONENT_CONTROLLER_API MechanicalStateController<defaulttype::Rigid2fTypes>;
#endif
#endif
} // namespace controller
} // namespace component
} // namespace sofa
#endif // SOFA_COMPONENT_CONTROLLER_MECHANICALSTATECONTROLLER_H
|