[SOLVED] MechanicalObject rotation

Hi @hugo

I finally had the time to thinker with a TransformEngine. It looks like its what I want, although I am not ale to use it from c++.

I now retrieve the pointer (m_instrument) to the TransformEngine instead of the MechanicalObject. I thought that I could use m_instrument->translation.setValue() to set the desired position, but m_instrument->translation is a protected member. I wanted to see if it was the only thing stopping me from using this method, so I set m_instrument->translation as a public member in TransformEngine.h. This method did work as I wanted it to.

Since I changed a part of the source code and I didn’t like it, I reverted the changes and tried to create my own TrexTransformEngine which is inherited from TransformEngine.

After a lot of tinkering, I came up with a solution. Here is my code :

#pragma once

#include <SofaGeneralEngine/TransformEngine.h>
#include <sofa/core/ObjectFactory.h>

namespace sofa::component::engine
{

template <class DataTypes>
class TrexTransformEngine : public TransformEngine<DataTypes>
{
public:
    SOFA_CLASS(SOFA_TEMPLATE(TrexTransformEngine, DataTypes), SOFA_TEMPLATE(TransformEngine, DataTypes));

protected:
    TrexTransformEngine() : TransformEngine<DataTypes>{ } {};
    ~TrexTransformEngine() override {}

public:
    void setTranslation(defaulttype::Vector3 trans)
    {
	this->translation.setValue(trans);
    }

    void setQuaternion(defaulttype::Quaternion quat)
    {
	this->quaternion.setValue(quat);
    }
};

int TrexTransformEngineClass = core::RegisterObject("Transform engine to help move the instrument.")
    .add< TrexTransformEngine<defaulttype::Rigid3Types> >(true) // default template
    .add< TrexTransformEngine<defaulttype::Vec1Types> >()
    .add< TrexTransformEngine<defaulttype::Vec2Types> >()
    .add< TrexTransformEngine<defaulttype::Vec3Types> >()
    .add< TrexTransformEngine<defaulttype::Rigid2Types> >()
    ;

template class TrexTransformEngine<defaulttype::Vec1Types>;
template class TrexTransformEngine<defaulttype::Vec2Types>;
template class TrexTransformEngine<defaulttype::Vec3Types>;
template class TrexTransformEngine<defaulttype::Rigid2Types>;
template class TrexTransformEngine<defaulttype::Rigid3Types>;

} //namespace sofa::component::engine

Is this a good way to do such a thing?

Thanks a lot for your help and have a nice day!

Bruno

Hi @hugo

Just tried the method based on the Geomagic Driver and it works like a charm. This is everything I want.

Thanks a lot for your help and have a nice day!

Bruno