vrpn_ForceDeviceServer.h

// vrpn_ForceDeviceServer.h: interface for the vrpn_ForceDeviceServer class.
//
 
#if !defined(                                                                  \
    AFX_VRPN_FORCEDEVICESERVER_H__E5B0D6FA_E426_45E5_97C7_B2169BEBF90A__INCLUDED_)
#define AFX_VRPN_FORCEDEVICESERVER_H__E5B0D6FA_E426_45E5_97C7_B2169BEBF90A__INCLUDED_
 
#include "vrpn_Configure.h" // for VRPN_CALLBACK, VRPN_API
#include "vrpn_ForceDevice.h" // for vrpn_ForceDevice
#include "vrpn_HashST.h" // for vrpn_Hash
#include "vrpn_Types.h" // for vrpn_int32, vrpn_float32, etc
 
class VRPN_API vrpn_Connection;
struct vrpn_HANDLERPARAM;
 
typedef vrpn_Hash<unsigned int, void *> vrpn_VoidHash;
typedef struct _vrpn_DisplayableObject {
 int m_ObjectType;
 void *m_pObject;
 void *m_pObjectMesh;
 
} vrpn_DISPLAYABLEOBJECT;
 
typedef vrpn_Hash<unsigned int, vrpn_DISPLAYABLEOBJECT *> vrpn_DISPLAYABLEHASH;
 
class VRPN_API vrpn_ForceDeviceServer : public vrpn_ForceDevice {
public:
 vrpn_ForceDeviceServer(const char *name, vrpn_Connection *c);
 virtual ~vrpn_ForceDeviceServer();
 
protected:
 static int VRPN_CALLBACK
    handle_addObject_message(void *userdata, vrpn_HANDLERPARAM p);
 static int VRPN_CALLBACK
    handle_addObjectExScene_message(void *userdata, vrpn_HANDLERPARAM p);
 static int VRPN_CALLBACK
    handle_setVertex_message(void *userdata, vrpn_HANDLERPARAM p);
 static int VRPN_CALLBACK
    handle_setNormal_message(void *userdata, vrpn_HANDLERPARAM p);
 static int VRPN_CALLBACK
    handle_setTriangle_message(void *userdata, vrpn_HANDLERPARAM p);
 static int VRPN_CALLBACK
    handle_removeTriangle_message(void *userdata, vrpn_HANDLERPARAM p);
 static int VRPN_CALLBACK
    handle_updateTrimeshChanges_message(void *userdata, vrpn_HANDLERPARAM p);
 static int VRPN_CALLBACK
    handle_transformTrimesh_message(void *userdata, vrpn_HANDLERPARAM p);
 static int VRPN_CALLBACK
    handle_setTrimeshType_message(void *userdata, vrpn_HANDLERPARAM p);
 static int VRPN_CALLBACK
    handle_setObjectPosition_message(void *userdata, vrpn_HANDLERPARAM p);
 static int VRPN_CALLBACK
    handle_setObjectOrientation_message(void *userdata, vrpn_HANDLERPARAM p);
 static int VRPN_CALLBACK
    handle_setObjectScale_message(void *userdata, vrpn_HANDLERPARAM p);
 static int VRPN_CALLBACK
    handle_removeObject_message(void *userdata, vrpn_HANDLERPARAM p);
 static int VRPN_CALLBACK
    handle_moveToParent_message(void *userdata, vrpn_HANDLERPARAM p);
 static int VRPN_CALLBACK
    handle_setHapticOrigin_message(void *userdata, vrpn_HANDLERPARAM p);
 static int VRPN_CALLBACK
    handle_setHapticScale_message(void *userdata, vrpn_HANDLERPARAM p);
 static int VRPN_CALLBACK
    handle_setSceneOrigin_message(void *userdata, vrpn_HANDLERPARAM p);
 static int VRPN_CALLBACK
    handle_setObjectIsTouchable_message(void *userdata, vrpn_HANDLERPARAM p);
 static int VRPN_CALLBACK
    handle_clearTrimesh_message(void *userdata, vrpn_HANDLERPARAM p);
 // Add an object to the haptic scene as root (parent -1 = default) or as
 // child (ParentNum =the number of the parent)
 virtual bool addObject(vrpn_int32 objNum, vrpn_int32 ParentNum = -1) = 0;
 // Add an object next to the haptic scene as root
 virtual bool addObjectExScene(vrpn_int32 objNum) = 0;
 // vertNum normNum and triNum start at 0
 virtual bool setVertex(vrpn_int32 objNum, vrpn_int32 vertNum,
                           vrpn_float32 x, vrpn_float32 y, vrpn_float32 z) = 0;
 // NOTE: ghost doesn't take normals,
 //       and normals still aren't implemented for Hcollide
 virtual bool setNormal(vrpn_int32 objNum, vrpn_int32 normNum,
                           vrpn_float32 x, vrpn_float32 y, vrpn_float32 z) = 0;
 virtual bool setTriangle(vrpn_int32 objNum, vrpn_int32 triNum,
                             vrpn_int32 vert0, vrpn_int32 vert1,
                             vrpn_int32 vert2, vrpn_int32 norm0 = -1,
                             vrpn_int32 norm1 = -1, vrpn_int32 norm2 = -1) = 0;
 virtual bool removeTriangle(vrpn_int32 objNum, vrpn_int32 triNum) = 0;
 // should be called to incorporate the above changes into the
 // displayed trimesh
 virtual bool updateTrimeshChanges(vrpn_int32 objNum, vrpn_float32 kspring,
                                      vrpn_float32 kdamp, vrpn_float32 fdyn,
                                      vrpn_float32 fstat) = 0;
 // set trimesh type
 virtual bool setTrimeshType(vrpn_int32 objNum, vrpn_int32 type) = 0;
 // set the trimesh's homogen transform matrix (in row major order)
 virtual bool setTrimeshTransform(vrpn_int32 objNum,
                                     vrpn_float32 homMatrix[16]) = 0;
 // set position of an object
 virtual bool setObjectPosition(vrpn_int32 objNum, vrpn_float32 Pos[3]) = 0;
 // set orientation of an object
 virtual bool setObjectOrientation(vrpn_int32 objNum, vrpn_float32 axis[3],
                                      vrpn_float32 angle) = 0;
 // set Scale of an object
 virtual bool setObjectScale(vrpn_int32 objNum, vrpn_float32 Scale[3]) = 0;
 // remove an object from the scene
 virtual bool removeObject(vrpn_int32 objNum) = 0;
 virtual bool clearTrimesh(vrpn_int32 objNum) = 0;
 
 // Change The parent of an object
 virtual bool moveToParent(vrpn_int32 objNum, vrpn_int32 ParentNum) = 0;
 // Set the Origin of the haptic scene
 virtual bool setHapticOrigin(vrpn_float32 Pos[3], vrpn_float32 axis[3],
                                 vrpn_float32 angle) = 0;
 // Set the Scale factor of the haptic scene
 virtual bool setHapticScale(vrpn_float32 Scale) = 0;
 // Set the Origin of the haptic scene
 virtual bool setSceneOrigin(vrpn_float32 Pos[3], vrpn_float32 axis[3],
                                vrpn_float32 angle) = 0;
 // make an object touchable or not
 virtual bool setObjectIsTouchable(vrpn_int32 objNum,
                                      vrpn_bool IsTouchable = true) = 0;
 
protected:
 vrpn_DISPLAYABLEHASH m_hObjectList;
};
 
#endif // !defined(AFX_VRPN_FORCEDEVICESERVER_H__E5B0D6FA_E426_45E5_97C7_B2169BEBF90A__INCLUDED_)