vtkPlusOpenHapticsDevice.h

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/*=Plus=header=begin======================================================
  Program: Plus
  Copyright (c) Laboratory for Percutaneous Surgery. All rights reserved.
  See License.txt for details.
=========================================================Plus=header=end*/

#ifndef __vtkPlusOpenHapticsDevice_h
#define __vtkPlusOpenHapticsDevice_h

#include "vtkPlusDataCollectionExport.h"

#include "vtkPlusDevice.h"
#include <HD/hd.h>

class vtkMatrix4x4;
class vtkTransform;


class vtkPlusDataCollectionExport vtkPlusOpenHapticsDevice : public vtkPlusDevice
{
public:

  static vtkPlusOpenHapticsDevice* New();
  vtkTypeMacro(vtkPlusOpenHapticsDevice, vtkPlusDevice);

  virtual std::string GetSdkVersion();

  virtual bool IsTracker() const { return true; }

  PlusStatus Probe();

  PlusStatus InternalUpdate();


  PlusStatus InternalConnect();
  PlusStatus InternalDisconnect();

  virtual PlusStatus ReadConfiguration(vtkXMLDataElement* config);

  virtual PlusStatus WriteConfiguration(vtkXMLDataElement* config);

  vtkSetStdStringMacro(DeviceName);
  vtkGetStdStringMacro(DeviceName);

  PlusStatus NotifyConfigured();


protected:
  vtkPlusOpenHapticsDevice();
  ~vtkPlusOpenHapticsDevice();

  unsigned int LastFrameNumber;

  unsigned int FrameNumber;

  std::string DeviceName;


private:
  vtkPlusOpenHapticsDevice(const vtkPlusOpenHapticsDevice&);
  void operator=(const vtkPlusOpenHapticsDevice&);
  static HDCallbackCode HDCALLBACK positionCallback(void* pData);

  HHD DeviceHandle;     
  vtkSmartPointer<vtkTransform> toolTransform;
  vtkSmartPointer<vtkTransform> rotation;
  vtkSmartPointer<vtkMatrix4x4> velMatrix;
  vtkSmartPointer<vtkMatrix4x4> buttonMatrix;
  vtkSmartPointer<vtkMatrix4x4> toolMatrix;
};

#endif