CHapticPoint.h

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//==============================================================================
/*
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    Copyright (c) 2003-2016, CHAI3D.
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    * Neither the name of CHAI3D nor the names of its contributors may
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    "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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    \author    <http://www.chai3d.org>
    \author    Francois Conti
    \version   3.2.0 $Rev: 1869 $
*/
//==============================================================================

//------------------------------------------------------------------------------
#ifndef cHapticPointH
#define cHapticPointH
//------------------------------------------------------------------------------
#include "audio/CAudioDevice.h"
#include "forces/CAlgorithmFingerProxy.h"
#include "forces/CAlgorithmPotentialField.h"
#include "world/CGenericObject.h"
#include "world/CShapeSphere.h"
//------------------------------------------------------------------------------

//------------------------------------------------------------------------------
namespace chai3d {
//------------------------------------------------------------------------------

//------------------------------------------------------------------------------
class cGenericTool;
//------------------------------------------------------------------------------

//==============================================================================
//==============================================================================

//==============================================================================
//==============================================================================
class cHapticPoint
{
    //--------------------------------------------------------------------------
    // CONSTRUCTOR & DESTRUCTOR:
    //--------------------------------------------------------------------------

public:

    cHapticPoint(cGenericTool* a_parentTool);

    virtual ~cHapticPoint();


    //--------------------------------------------------------------------------
    // PUBLIC METHODS - POSITION COMMANDS
    //--------------------------------------------------------------------------

public:

    void initialize();

    void initialize(cVector3d a_globalPos);

    inline cGenericTool* getParentTool() { return (m_parentTool); }

    cVector3d getGlobalPosGoal();

    cVector3d getGlobalPosProxy();

    cVector3d getLocalPosGoal();

    cVector3d getLocalPosProxy();


    //--------------------------------------------------------------------------
    // PUBLIC METHODS - GENERAL SETTINGS
    //--------------------------------------------------------------------------

public:

    void setRadius(double a_radius);

    void setRadius(double a_radiusDisplay, 
                   double a_radiusContact);

    void setRadiusContact(double a_radiusContact);

    double getRadiusContact() { return (m_radiusContact); }

    void setRadiusDisplay(double a_radiusDisplay);

    double getRadiusDisplay() { return (m_radiusDisplay); }

    void setShow(bool a_showProxy = true, 
                 bool a_showGoal = false,
                 cColorf a_colorLine = cColorf(0.5, 0.5, 0.5));

    bool createAudioSource(cAudioDevice* a_audioDevice);


    //--------------------------------------------------------------------------
    // PUBLIC METHODS - COLLISION EVENTS (MESH OBJECTS)
    //--------------------------------------------------------------------------

public:

    // This method returns the current number of collision events between this haptic point and the environment.
    inline int getNumCollisionEvents() { return (m_algorithmFingerProxy->getNumCollisionEvents()); }

    // This method returns the i'th collision collision event for this haptic point.
    inline cCollisionEvent* getCollisionEvent(const int a_index) { return (m_algorithmFingerProxy->m_collisionEvents[a_index]); }


    //--------------------------------------------------------------------------
    // PUBLIC METHODS - INTERACTION EVENTS (POTENTIAL FIELDS)
    //--------------------------------------------------------------------------

public:

    // This method returns the number of interaction events between this haptic point and the environment.
    inline int getNumInteractionEvents() { return (int)(m_algorithmPotentialField->m_interactionRecorder.m_interactions.size()); }

    // This method returns the i'th interaction events between this haptic point and the environment.
    inline cInteractionEvent* getInteractionEvent(const int a_index) { return (&(m_algorithmPotentialField->m_interactionRecorder.m_interactions[a_index])); }


    //--------------------------------------------------------------------------
    // PUBLIC METHODS - FORCE COMPUTATIONS
    //--------------------------------------------------------------------------

public:

    cVector3d computeInteractionForces(cVector3d& a_globalPos, 
                                       cMatrix3d& a_globalRot,
                                       cVector3d& a_globalLinVel,
                                       cVector3d& a_globalAngVel);

    cVector3d getLastComputedForce() { return (m_lastComputedGlobalForce); }

    bool isInContact(cGenericObject* a_object);


    //--------------------------------------------------------------------------
    // PUBLIC MEMBERS - FORCE RENDERING ALGORITHMS
    //--------------------------------------------------------------------------

public:

    cAlgorithmFingerProxy* m_algorithmFingerProxy;

    cAlgorithmPotentialField* m_algorithmPotentialField;


    //--------------------------------------------------------------------------
    // PUBLIC MEMBERS - GRAPHIC MODEL
    //--------------------------------------------------------------------------

public:

    cShapeSphere* m_sphereProxy;

    cShapeSphere* m_sphereGoal;

    cColorf m_colorLine;


    //--------------------------------------------------------------------------
    // PUBLIC METHODS
    //--------------------------------------------------------------------------

public:

    void render(cRenderOptions& a_options);


    //--------------------------------------------------------------------------
    // PROTECTED METHODS
    //--------------------------------------------------------------------------

protected:

    void updateSpherePositions();


    //--------------------------------------------------------------------------
    // PROTECTED MEMBERS
    //--------------------------------------------------------------------------

protected:

    cGenericTool* m_parentTool;

    cVector3d m_lastComputedGlobalForce;

    double m_radiusDisplay;

    double m_radiusContact;

    cGenericObject* m_meshProxyContacts[3];


    //--------------------------------------------------------------------------
    // PROTECTED MEMBERS - AUDIO
    //--------------------------------------------------------------------------

protected:

    cAudioSource* m_audioSourceImpact[3];

    cAudioSource* m_audioSourceFriction[3];

    bool m_useAudioSources;

    cGenericObject* m_audioProxyContacts[3];
};

//------------------------------------------------------------------------------
} // namespace chai3d
//------------------------------------------------------------------------------

//------------------------------------------------------------------------------
#endif
//------------------------------------------------------------------------------