include/IPSA/SoJoint.h

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#ifndef IPSA_SOJOINT_H
#define IPSA_SOJOINT_H
/*
 * Copyright (c) 2004, University of Braunschweig (for members see AUTHORS file)
 * Copyright (c) 2007, 2008, 2009, University of Karlsruhe (for members see AUTHORS file)
 * Copyright (c) 2011, Karlsruhe Institute of Technology (for members see AUTHORS file)
 *
 * ISC License
 *
 * Permission to use, copy, modify, and/or distribute this software for any
 * purpose with or without fee is hereby granted, provided that the above
 * copyright notice and this permission notice appear in all copies.
 *
 * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
 * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
 * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
 * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
 * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
 * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
 * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
 */

#include "IPSA.h"
#include "SoPhysics.h"

#include <Inventor/actions/SoCallbackAction.h>
#include <Inventor/fields/SoSFNode.h>
#include <Inventor/fields/SoSFVec3f.h>
#include <Inventor/fields/SoSFTrigger.h>
#include <Inventor/nodekits/SoBaseKit.h>
#include <Inventor/nodes/SoSeparator.h>
#include <Inventor/SbString.h>
#include <Inventor/sensors/SoFieldSensor.h>

#include <ode/ode.h>

class SoTransform;
class SoFieldSensor;

class IPSA_IMPORT_EXPORT SoJoint : public SoBaseKit {

SO_KIT_HEADER(SoJoint);

SO_KIT_CATALOG_ENTRY_HEADER(visualisationShape);

public:
                // Constructor
                SoJoint(const SbString& BodyOne = "", const SbString& BodyTwo = "", const SbString& nodeName = "");
                // Destructor
                virtual ~SoJoint();

                virtual SoBaseKit* copy(SbBool copyConnections) const;
                virtual SbBool setUpConnections(SbBool onOff,SbBool doItAlways = FALSE);
                static void initClass();

                virtual void setParams() {;}

                static SoCallbackAction::Response InitOdeJointsCB(void * userdata, SoCallbackAction* action, const SoNode* node);
                dJointID getJointID();

                virtual void setTorque(dReal torque1 = 0.0f, dReal torque2 = 0.0f, dReal torque3 = 0.0f);
                virtual void setForce(dReal force1 = 0.0f);
                SoSFVec3f getTorque(int idx);
                SoSFVec3f getForce(int idx);
                void destroyJoint();

                SoSFName Bodyname1;
                SoSFName Bodyname2;
                SoSFFloat VisualisationScale;
                SoSFBool drawVisualisationShape;

                const float INIT_CFM;
                const float INIT_ERP;

                dJointFeedback* soJointFeedback;

protected:
                SoPhysics* getPhysicsBody1();
                SoPhysics* getPhysicsBody2();
                SoPhysics* getPhysicsBody(const SbName& bodyname);
                virtual void createOdeJoint(const dWorldID soWorldId);
                virtual void updateOdeJointProperties(const SbMatrix& modelMatrix);
                virtual SoNode* createVisualisation() {return new SoSeparator;}
                static void GenerateCylinderAlignmentRotation(const SbVec3f& axis, SoTransform& transform);

                SoSFTrigger updateOdeParametersTrigger;
                SoFieldSensor updateOdeParametersSensor;
                SoFieldSensor drawVisualisationShapeSensor;
                dJointGroupID soJointGroupId;
                dJointID soJointId;
                bool isInitialised;
private:
                static void IPSAJointDrawVisualisationChangedCB(void* data, SoSensor*);
                static void IPSAUpdateOdeParametersCB(void* data, SoSensor*);
};

#endif

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