#include <MechanicalStateController.h>

MechanicalStateController Class. More...

Inheritance diagram for sofa::component::controller::MechanicalStateController< DataTypes >:

Detailed Description

template<class DataTypes>
class sofa::component::controller::MechanicalStateController< DataTypes >

Provides a Mouse & Keyboard user control on a Mechanical State. On a Rigid Particle, relative and absolute control is available.

Public Member Functions
	SOFA_CLASS (SOFA_TEMPLATE(MechanicalStateController, DataTypes), Controller)

void	init () override
	SceneGraph callback initialization method. More...

void	applyController ()

void	onMouseEvent (core::objectmodel::MouseEvent *mev)
	Mouse event callback. More...

void	onMouseEvent (core::objectmodel::MouseEvent *mev)
	Mouse event callback. More...

Controller Interface
void	onMouseEvent (core::objectmodel::MouseEvent *mev) override
	Mouse event callback. More...

void	onBeginAnimationStep (const double dt) override
	HapticDevice event callback. More...

Public Member Functions inherited from sofa::component::controller::Controller
	SOFA_CLASS (Controller, core::behavior::BaseController)

virtual void	onHapticDeviceEvent (core::objectmodel::HapticDeviceEvent *)
	HapticDevice event callback. More...

virtual void	onKeyPressedEvent (core::objectmodel::KeypressedEvent *)
	Xitact event callback. More...

virtual void	onKeyReleasedEvent (core::objectmodel::KeyreleasedEvent *)
	Key Release event callback. More...

virtual void	onJoystickEvent (core::objectmodel::JoystickEvent *)
	Joystick event callback. More...

virtual void	onEndAnimationStep (const double)
	End Animation event callback. More...

virtual void	onGUIEvent (core::objectmodel::GUIEvent *)
	GUI event callback. More...

void	handleEvent (core::objectmodel::Event *) override
	Handle an event. More...

Public Member Functions inherited from sofa::core::behavior::BaseController
	SOFA_ABSTRACT_CLASS (BaseController, core::objectmodel::BaseObject)

Public Member Functions inherited from sofa::core::objectmodel::BaseObject
	SOFA_CLASS (BaseObject, Base)

virtual void	draw (const core::visual::VisualParams *)
	Render internal data of this object, for debugging purposes. More...

virtual void	computeBBox (const core::ExecParams *, bool=false)

void	setSrc (const std::string &v, std::vector< std::string > *attributeList=nullptr)
	Sets a source Object and parses it to collect dependent Data. More...

void	setSrc (const std::string &v, const BaseObject loader, std::vector< std::string > attributeList=nullptr)

Base *	findLinkDestClass (const BaseClass destType, const std::string &path, const BaseLink link) override

virtual std::string	getPathName () const override
	Return the full path name of this object. More...

virtual bool	insertInNode (BaseNode *)

virtual bool	removeInNode (BaseNode *)

SReal	getTime () const
	Current time. More...

const BaseContext *	getContext () const

BaseContext *	getContext ()

const BaseObject *	getMaster () const

BaseObject *	getMaster ()

const VecSlaves &	getSlaves () const

BaseObject *	getSlave (const std::string &name) const

virtual void	addSlave (BaseObject::SPtr s)

virtual void	removeSlave (BaseObject::SPtr s)

virtual void	handleTopologyChange ()

virtual void	handleTopologyChange (core::topology::Topology *t)

void	parse (BaseObjectDescription *arg) override
	Parse the given description to assign values to this object's fields and potentially other parameters. More...

virtual void	bwdInit ()
	Initialization method called at graph creation and modification, during bottom-up traversal. More...

virtual void	reinit ()
	Update method called when variables used in precomputation are modified. More...

void	updateInternal ()
	Update method called when variables (used to compute other internal variables) are modified. More...

virtual void	storeResetState ()
	Save the initial state for later uses in reset() More...

virtual void	reset ()
	Reset to initial state. More...

virtual void	cleanup ()

Public Member Functions inherited from sofa::core::objectmodel::Base
virtual const BaseClass *	getClass () const

void	addDeprecatedAttribute (lifecycle::DeprecatedData *attribute)

void	addUpdateCallback (const std::string &name, std::initializer_list< BaseData * > inputs, std::function< sofa::core::objectmodel::ComponentState(const DataTracker &)> function, std::initializer_list< BaseData * > outputs)

void	addOutputsToCallback (const std::string &name, std::initializer_list< BaseData * > outputs)

const std::string &	getName () const
	Accessor to the object name. More...

void	setName (const std::string &n)
	Set the name of this object. More...

void	setName (const std::string &n, int counter)
	Set the name of this object, adding an integer counter. More...

std::string	getTypeName () const
	Get the type name of this object (i.e. class and template types) More...

virtual std::string	getClassName () const
	Get the class name of this object. More...

virtual std::string	getTemplateName () const final
	Get the template type names (if any) used to instantiate this object. More...

std::string	getNameSpaceName () const
	Get the template type names (if any) used to instantiate this object. More...

void	setDefinitionSourceFileName (const std::string &sourceFileName)
	Set the source filename (where the component is implemented) More...

const std::string &	getDefinitionSourceFileName () const
	Get the source filename (where the component is implemented) More...

void	setDefinitionSourceFilePos (const int)
	Set the source location (where the component is implemented) More...

int	getDefinitionSourceFilePos () const
	Get the source location (where the component is implemented) More...

void	setInstanciationSourceFileName (const std::string &sourceFileName)

const std::string &	getInstanciationSourceFileName () const

void	setInstanciationSourceFilePos (const int)

int	getInstanciationSourceFilePos () const

void	addMessage (const sofa::helper::logging::Message &m) const

size_t	countLoggedMessages (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const

const std::deque< sofa::helper::logging::Message > &	getLoggedMessages () const

const std::string	getLoggedMessagesAsString (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const

void	clearLoggedMessages () const

bool	notMuted () const

const sofa::core::objectmodel::TagSet &	getTags () const
	Represents the subsets the object belongs to. More...

bool	hasTag (Tag t) const
	Return true if the object belong to the given subset. More...

void	addTag (Tag t)
	Add a subset qualification to the object. More...

void	removeTag (Tag t)
	Remove a subset qualification to the object. More...

ComponentState	getComponentState () const

bool	isComponentStateValid () const

virtual bool	parseField (const std::string &attribute, const std::string &value)
	Assign one field value (Data or Link) More...

virtual bool	hasField (const std::string &attribute) const
	Check if a given Data field or Link exists. More...

void	parseFields (const std::list< std::string > &str)
	Assign the field values stored in the given list of name + value pairs of strings. More...

virtual void	parseFields (const std::map< std::string, std::string * > &str)
	Assign the field values stored in the given map of name -> value pairs. More...

void	writeDatas (std::map< std::string, std::string * > &str)
	Write the current field values to the given map of name -> value pairs. More...

void	writeDatas (std::ostream &out, const std::string &separator=" ")

BaseData *	findData (const std::string &name) const

std::vector< BaseData * >	findGlobalField (const std::string &name) const
	Find data fields given a name: several can be found as we look into the alias map. More...

BaseLink *	findLink (const std::string &name) const

std::vector< BaseLink * >	findLinks (const std::string &name) const
	Find link fields given a name: several can be found as we look into the alias map. More...

virtual void	updateLinks (bool logErrors=true)
	Update pointers in case the pointed-to objects have appeared. More...

template<class T >
BaseData::BaseInitData	initData (::sofa::core::objectmodel::Data< T > field, const char name, const char *help, ::sofa::core::objectmodel::BaseData::DataFlags dataflags)
	Helper method used to initialize a data field containing a value of type T. More...

template<class T >
BaseData::BaseInitData	initData (Data< T > field, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used to initialize a data field containing a value of type T. More...

template<class T >
Data< T >::InitData	initData (Data< T > field, const T &value, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used to initialize a data field containing a value of type T. More...

void	addData (BaseData *f, const std::string &name)

void	addData (BaseData *f)

void	removeData (BaseData *f)
	Remove a data field. More...

void	addAlias (BaseData field, const char alias)
	Add an alias to a Data. More...

void	addLink (BaseLink *l)
	Add a link. More...

void	addAlias (BaseLink link, const char alias)
	Add an alias to a Link. More...

const VecData &	getDataFields () const
	Accessor to the vector containing all the fields of this object. More...

const MapData &	getDataAliases () const
	Accessor to the map containing all the aliases of this object. More...

const VecLink &	getLinks () const
	Accessor to the vector containing all the fields of this object. More...

const MapLink &	getLinkAliases () const
	Accessor to the map containing all the aliases of this object. More...

virtual bool	findDataLinkDest (BaseData &ptr, const std::string &path, const BaseLink link)

template<class T >
bool	findLinkDest (T &ptr, const std::string &path, const BaseLink link)

Protected Member Functions
	MechanicalStateController ()
	Default Constructor. More...

	~MechanicalStateController () override
	Default Destructor. More...

Protected Member Functions inherited from sofa::component::controller::Controller
	Controller ()
	Default constructor. More...

	~Controller () override
	Destructor. More...

Protected Member Functions inherited from sofa::core::objectmodel::BaseObject
	BaseObject ()

	~BaseObject () override

virtual void	doUpdateInternal ()
	Implementation of the internal update. More...

void	changeContextLink (BaseContext before, BaseContext &after)

void	changeSlavesLink (BaseObject::SPtr ptr, std::size_t, bool add)
	This method insures that slaves objects have master and context links set correctly. More...

void	trackInternalData (const BaseData &data)
	Method called to add the Data to the DataTracker (listing the Data to track) More...

void	cleanTracker ()

bool	hasDataChanged (const BaseData &data)
	Method called to know if a tracked Data has changed. More...

Protected Member Functions inherited from sofa::core::objectmodel::Base
	Base ()

virtual	~Base ()

void	initData0 (BaseData field, BaseData::BaseInitData &res, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used by initData() More...

void	initData0 (BaseData field, BaseData::BaseInitData &res, const char name, const char *help, BaseData::DataFlags dataFlags)
	Helper method used by initData() More...

template<class T >
void	initData0 (Data< T > field, typename Data< T >::InitData &res, const T &value, const char name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
	Helper method used by initData() More...

Accessors
enum	MouseMode { None =0 , BtLeft , BtRight , BtMiddle , Wheel }

sofa::core::objectmodel::RenamedData< unsigned int >	index

sofa::core::objectmodel::RenamedData< bool >	onlyTranslation

sofa::core::objectmodel::RenamedData< bool >	buttonDeviceState

sofa::core::objectmodel::RenamedData< sofa::type::Vec< 3, Real > >	mainDirection

Data< unsigned int >	d_index
	Index of the controlled DOF. More...

Data< bool >	d_onlyTranslation
	Controlling the DOF only in translation. More...

Data< bool >	d_buttonDeviceState
	state of ths device button More...

core::behavior::MechanicalState< DataTypes > *	mState
	Controlled MechanicalState. More...

Data< sofa::type::Vec< 3, Real > >	d_mainDirection
	Main direction and orientation of the controlled DOF. More...

bool	device

MouseMode	mouseMode

int	eventX

int	eventY
	Mouse current position in pixel. More...

double	deviceX

double	deviceY

double	deviceZ

int	mouseSavedPosX

int	mouseSavedPosY
	Last recorded mouse position. More...

sofa::type::Vec3	position

sofa::type::Quat< SReal >	orientation

bool	buttonDevice

core::behavior::MechanicalState< DataTypes > *	getMechanicalState (void) const
	Return the controlled MechanicalState. More...

void	setMechanicalState (core::behavior::MechanicalState< DataTypes > *)
	Set a MechanicalState to the controller. More...

unsigned int	getIndex (void) const
	Return the index of the controlled DOF of the MechanicalState. More...

void	setIndex (const unsigned int)
	Set the index of the controlled DOF of the MechanicalState. More...

void	setMainDirection (const sofa::type::Vec< 3, Real >)
	Set the direction of the controlled DOF corresponding to the Mouse vertical axis. More...

const sofa::type::Vec< 3, Real > &	getMainDirection () const
	Return the direction of the controlled DOF corresponding to the Mouse vertical axis. More...

void	applyController (void)
	Apply the controller modifications to the controlled MechanicalState. More...

Additional Inherited Members
Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< bool >	f_listening
	if true, handle the events, otherwise ignore the events More...

Public Attributes inherited from sofa::core::objectmodel::Base
std::vector< lifecycle::DeprecatedData * >	m_oldAttributes

Data< int >	d_messageLogCount

Data< std::string >	name
	Name of the object. More...

Data< bool >	f_printLog
	if true, emits extra messages at runtime. More...

Data< sofa::core::objectmodel::TagSet >	f_tags
	list of the subsets the object belongs to More...

Data< sofa::type::BoundingBox >	f_bbox
	this object bounding box More...

Data< sofa::core::objectmodel::ComponentState >	d_componentState
	The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). More...

std::string	m_definitionSourceFileName {""}

int	m_definitionSourceFilePos {-1}

std::string	m_instanciationSourceFileName {""}

int	m_instanciationSourceFilePos {-1}

Protected Attributes inherited from sofa::component::controller::Controller
sofa::core::objectmodel::RenamedData< bool >	handleEventTriggersUpdate

Data< bool >	d_handleEventTriggersUpdate
	Event handling frequency controls the controller update frequency. More...

Protected Attributes inherited from sofa::core::objectmodel::BaseObject
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINK >	l_context

LinkSlaves	l_slaves

SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINK >	l_master

Protected Attributes inherited from sofa::core::objectmodel::Base
std::map< std::string, sofa::core::DataTrackerCallback >	m_internalEngine

VecData	m_vecData
	List of fields (Data instances) More...

MapData	m_aliasData
	name -> Data multi-map (includes names and aliases) More...

VecLink	m_vecLink
	List of links. More...

MapLink	m_aliasLink
	name -> Link multi-map (includes names and aliases) More...

Static Public Member Functions inherited from sofa::core::objectmodel::BaseObject
template<class T >
static bool	canCreate (T , BaseContext , BaseObjectDescription *)
	Pre-construction check method called by ObjectFactory. More...

template<class T >
static T::SPtr	create (T , BaseContext context, BaseObjectDescription *arg)
	Construction method called by ObjectFactory. More...

Static Public Member Functions inherited from sofa::core::objectmodel::Base
static const BaseClass *	GetClass ()

template<class T >
static std::string	shortName (const T ptr=nullptr, BaseObjectDescription =nullptr)

Attribute details

◆ buttonDevice

template<class DataTypes >

bool sofa::component::controller::MechanicalStateController< DataTypes >::buttonDevice

protected

◆ buttonDeviceState

template<class DataTypes >

sofa::core::objectmodel::RenamedData< bool > sofa::component::controller::MechanicalStateController< DataTypes >::buttonDeviceState

protected

◆ d_buttonDeviceState

template<class DataTypes >

Data< bool > sofa::component::controller::MechanicalStateController< DataTypes >::d_buttonDeviceState

protected

state of ths device button

◆ d_index

template<class DataTypes >

Data< unsigned int > sofa::component::controller::MechanicalStateController< DataTypes >::d_index

protected

Index of the controlled DOF.

◆ d_mainDirection

template<class DataTypes >

Data< sofa::type::Vec<3,Real> > sofa::component::controller::MechanicalStateController< DataTypes >::d_mainDirection

protected

Main direction and orientation of the controlled DOF.

◆ d_onlyTranslation

template<class DataTypes >

Data< bool > sofa::component::controller::MechanicalStateController< DataTypes >::d_onlyTranslation

protected

Controlling the DOF only in translation.

◆ device

template<class DataTypes >

bool sofa::component::controller::MechanicalStateController< DataTypes >::device

protected

◆ deviceX

template<class DataTypes >

double sofa::component::controller::MechanicalStateController< DataTypes >::deviceX

protected

◆ deviceY

template<class DataTypes >

double sofa::component::controller::MechanicalStateController< DataTypes >::deviceY

protected

◆ deviceZ

template<class DataTypes >

double sofa::component::controller::MechanicalStateController< DataTypes >::deviceZ

protected

◆ eventX

template<class DataTypes >

int sofa::component::controller::MechanicalStateController< DataTypes >::eventX

protected

◆ eventY

template<class DataTypes >

int sofa::component::controller::MechanicalStateController< DataTypes >::eventY

protected

Mouse current position in pixel.

◆ index

template<class DataTypes >

sofa::core::objectmodel::RenamedData< unsigned int > sofa::component::controller::MechanicalStateController< DataTypes >::index

protected

◆ mainDirection

template<class DataTypes >

sofa::core::objectmodel::RenamedData< sofa::type::Vec<3,Real> > sofa::component::controller::MechanicalStateController< DataTypes >::mainDirection

protected

◆ mouseMode

template<class DataTypes >

MouseMode sofa::component::controller::MechanicalStateController< DataTypes >::mouseMode

protected

◆ mouseSavedPosX

template<class DataTypes >

int sofa::component::controller::MechanicalStateController< DataTypes >::mouseSavedPosX

protected

◆ mouseSavedPosY

template<class DataTypes >

int sofa::component::controller::MechanicalStateController< DataTypes >::mouseSavedPosY

protected

Last recorded mouse position.

◆ mState

template<class DataTypes >

core::behavior::MechanicalState<DataTypes>* sofa::component::controller::MechanicalStateController< DataTypes >::mState

protected

Controlled MechanicalState.

◆ onlyTranslation

template<class DataTypes >

sofa::core::objectmodel::RenamedData< bool > sofa::component::controller::MechanicalStateController< DataTypes >::onlyTranslation

protected

◆ orientation

template<class DataTypes >

sofa::type::Quat<SReal> sofa::component::controller::MechanicalStateController< DataTypes >::orientation

protected

◆ position

template<class DataTypes >

sofa::type::Vec3 sofa::component::controller::MechanicalStateController< DataTypes >::position

protected

Constructor details

◆ MechanicalStateController()

template<class DataTypes >

sofa::component::controller::MechanicalStateController< DataTypes >::MechanicalStateController

protected

Default Constructor.

◆ ~MechanicalStateController()

template<class DataTypes >

sofa::component::controller::MechanicalStateController< DataTypes >::~MechanicalStateController ( )

inlineoverrideprotected

Default Destructor.

Function details

◆ applyController() [1/2]

void sofa::component::controller::MechanicalStateController< Vec1Types >::applyController ( )

◆ applyController() [2/2]

template<class DataTypes >

void sofa::component::controller::MechanicalStateController< DataTypes >::applyController ( void )

Apply the controller modifications to the controlled MechanicalState.

◆ getIndex()

template<class DataTypes >

unsigned int sofa::component::controller::MechanicalStateController< DataTypes >::getIndex ( void ) const

Return the index of the controlled DOF of the MechanicalState.

◆ getMainDirection()

template<class DataTypes >

const sofa::type::Vec< 3, typename MechanicalStateController< DataTypes >::Real > & sofa::component::controller::MechanicalStateController< DataTypes >::getMainDirection

Return the direction of the controlled DOF corresponding to the Mouse vertical axis.

◆ getMechanicalState()

template<class DataTypes >

core::behavior::MechanicalState< DataTypes > * sofa::component::controller::MechanicalStateController< DataTypes >::getMechanicalState ( void ) const

Return the controlled MechanicalState.

◆ init()

template<class DataTypes >

void sofa::component::controller::MechanicalStateController< DataTypes >::init ( void )

overridevirtual

SceneGraph callback initialization method.

Reimplemented from sofa::core::objectmodel::BaseObject.

◆ onBeginAnimationStep()

template<class DataTypes >

void sofa::component::controller::MechanicalStateController< DataTypes >::onBeginAnimationStep ( const double dt )

overridevirtual

HapticDevice event callback.

Begin Animation event callback.

Reimplemented from sofa::component::controller::Controller.

◆ onMouseEvent() [1/3]

void sofa::component::controller::MechanicalStateController< Vec1Types >::onMouseEvent ( core::objectmodel::MouseEvent * )

virtual

Mouse event callback.

Reimplemented from sofa::component::controller::Controller.

◆ onMouseEvent() [2/3]

void sofa::component::controller::MechanicalStateController< Rigid3Types >::onMouseEvent ( core::objectmodel::MouseEvent * )

virtual

Mouse event callback.

Reimplemented from sofa::component::controller::Controller.

◆ onMouseEvent() [3/3]

template<class DataTypes >

void sofa::component::controller::MechanicalStateController< DataTypes >::onMouseEvent ( core::objectmodel::MouseEvent * mev )

overridevirtual

Mouse event callback.

Reimplemented from sofa::component::controller::Controller.

◆ setIndex()

template<class DataTypes >

void sofa::component::controller::MechanicalStateController< DataTypes >::setIndex ( const unsigned int _index )

Set the index of the controlled DOF of the MechanicalState.

◆ setMainDirection()

template<class DataTypes >

void sofa::component::controller::MechanicalStateController< DataTypes >::setMainDirection ( const sofa::type::Vec< 3, Real > _mainDirection )

Set the direction of the controlled DOF corresponding to the Mouse vertical axis.

◆ setMechanicalState()

template<class DataTypes >

void sofa::component::controller::MechanicalStateController< DataTypes >::setMechanicalState ( core::behavior::MechanicalState< DataTypes > * _mState )

Set a MechanicalState to the controller.

◆ SOFA_CLASS()

template<class DataTypes >

sofa::component::controller::MechanicalStateController< DataTypes >::SOFA_CLASS	(	SOFA_TEMPLATE(MechanicalStateController< DataTypes >, DataTypes)	,
		Controller
	)

Enum details

◆ MouseMode

template<class DataTypes >

enum sofa::component::controller::MechanicalStateController::MouseMode

protected

Enumerator
None
BtLeft
BtRight
BtMiddle
Wheel

Detailed Description

template<class DataTypes> class sofa::component::controller::MechanicalStateController< DataTypes >

Public Member Functions

Protected Member Functions

Accessors

Additional Inherited Members

Attribute details

◆ buttonDevice

◆ buttonDeviceState

◆ d_buttonDeviceState

◆ d_index

◆ d_mainDirection

◆ d_onlyTranslation

◆ device

◆ deviceX

◆ deviceY

◆ deviceZ

◆ eventX

◆ eventY

◆ index

◆ mainDirection

◆ mouseMode

◆ mouseSavedPosX

◆ mouseSavedPosY

◆ mState

◆ onlyTranslation

◆ orientation

◆ position

Constructor details

◆ MechanicalStateController()

◆ ~MechanicalStateController()

Function details

◆ applyController() [1/2]

◆ applyController() [2/2]

◆ getIndex()

◆ getMainDirection()

◆ getMechanicalState()

◆ init()

◆ onBeginAnimationStep()

◆ onMouseEvent() [1/3]

◆ onMouseEvent() [2/3]

◆ onMouseEvent() [3/3]

◆ setIndex()

◆ setMainDirection()

◆ setMechanicalState()

◆ SOFA_CLASS()

Enum details

◆ MouseMode

template<class DataTypes>
class sofa::component::controller::MechanicalStateController< DataTypes >