FF3DDeviceOutputAgent.h

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/*
 * This file is part of Micole Architecture
 *
 * Copyright (C) 2007 Micole partners
 *
 * Micole Architecture 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 3 of the License, or (at your option) any 
 * later version.
 *
 * Micole Architecture 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 Micole Architecture.  If not, see
 * <http://www.gnu.org/licenses/>.
 */

#ifndef FF3DDEVICEOUTPUTAGENT_H
#define FF3DDEVICEOUTPUTAGENT_H
#include "micolelib.h"

#include <Child.h>
#include "FF3DForceModel.h"
#include "ReachinMicoleApplication.h"
#include "MicoleAgent.h"
#include "playback.h"

class MICOLELIB_API FF3DDeviceOutputAgent : public Child, public MicoleAgent
{
        public:
                FF3DDeviceOutputAgent();
                virtual ~FF3DDeviceOutputAgent();
                Playback* pb;
                FILE* log;

                void setForceModel(FF3DForceModel * fm) 
                {
                        if (_fm = fm) //dangerous code
                                return;
                        if (_fm) //if _fm is not null
                        {
                                //i that possible?
                                delete(_fm);
                        }
                        _fm = fm;
/*                      
                        //this code must be a joke:
                        if (fm != NULL)
                        {
                                _fm = fm;
                        }
                        else
                        {
                                _fm = NULL;
                        }*/
                }

        struct FF3DDeviceOutputAgentCollider : public Collider
        {
                FF3DDeviceOutputAgent *_parent;

                virtual void collide( CollisionState *cs)
                { 
                        Child::Collider::collide( cs ); 
                        //Vec3f haptic_position = cs->getFinger(); 
                        //if( haptic_position * haptic_position < 0.1 ) { 
                        if (_parent->_fm)
                                cs->addAbsoluteLocalFM( _parent->_fm );
                                //cs->addAbsoluteGlobalFM( _parent->_fm ); }
                }
                        //} 
        };

        protected:
                virtual void handlePointForceModel ( MicoleBus *app, int argc, const char **argv );
                virtual void handleLinearForceModel ( MicoleBus *app, int argc, const char **argv );
                virtual void handlePlanarForceModel ( MicoleBus *app, int argc, const char **argv );
                virtual void handleNoForceModel ( MicoleBus *app, int argc, const char **argv );
                virtual void handleSphericalForceModel ( MicoleBus *app, int argc, const char **argv );
                virtual void handleDiscForceModel ( MicoleBus *app, int argc, const char **argv );
                virtual void handlePicobHgForceModel ( MicoleBus *app, int argc, const char **argv );
                virtual void handlePicobGForceModel ( MicoleBus *app, int argc, const char **argv );

        private:
                FF3DForceModel * _fm; 
                Transform * _transform; 
}; // end of FF3D

#endif

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