SOFA API  fdacdac3
Open source framework for multi-physics simuation
sofa::component::controller::MechanicalStateController< DataTypes > Class Template Reference

#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 >

MechanicalStateController Class.

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)
 
BasefindLinkDestClass (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 BaseContextgetContext () const
 
BaseContextgetContext ()
 
const BaseObjectgetMaster () const
 
BaseObjectgetMaster ()
 
const VecSlavesgetSlaves () const
 
BaseObjectgetSlave (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 BaseClassgetClass () 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::TagSetgetTags () 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=" ")
 
BaseDatafindData (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...
 
BaseLinkfindLink (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 VecDatagetDataFields () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapDatagetDataAliases () const
 Accessor to the map containing all the aliases of this object. More...
 
const VecLinkgetLinks () const
 Accessor to the vector containing all the fields of this object. More...
 
const MapLinkgetLinkAliases () 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< boolonlyTranslation
 
sofa::core::objectmodel::RenamedData< boolbuttonDeviceState
 
sofa::core::objectmodel::RenamedData< sofa::type::Vec< 3, Real > > mainDirection
 
Data< unsigned int > d_index
 Index of the controlled DOF. More...
 
Data< boold_onlyTranslation
 Controlling the DOF only in translation. More...
 
Data< boold_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< boolf_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< boolf_printLog
 if true, emits extra messages at runtime. More...
 
Data< sofa::core::objectmodel::TagSetf_tags
 list of the subsets the object belongs to More...
 
Data< sofa::type::BoundingBoxf_bbox
 this object bounding box More...
 
Data< sofa::core::objectmodel::ComponentStated_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< boolhandleEventTriggersUpdate
 
Data< boold_handleEventTriggersUpdate
 Event handling frequency controls the controller update frequency. More...
 
- Protected Attributes inherited from sofa::core::objectmodel::BaseObject
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINKl_context
 
LinkSlaves l_slaves
 
SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINKl_master
 
- Protected Attributes inherited from sofa::core::objectmodel::Base
std::map< std::string, sofa::core::DataTrackerCallbackm_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 BaseClassGetClass ()
 
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

◆ 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

◆ mainDirection

◆ 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

Controlled MechanicalState.

◆ onlyTranslation

◆ 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()

Default Constructor.

◆ ~MechanicalStateController()

template<class DataTypes >
sofa::component::controller::MechanicalStateController< DataTypes >::~MechanicalStateController ( )
inlineoverrideprotected

Default Destructor.

Function details

◆ applyController() [1/2]

◆ 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]

◆ onMouseEvent() [2/3]

◆ 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