void HaptionDriver::onKeyPressedEvent(core::objectmodel::KeypressedEvent *kpe)
{
if(!visuAxes && kpe->getKey()==49)
{
sofa::simulation::tree::GNode *parent = dynamic_cast<sofa::simulation::tree::GNode*>(this->getContext());
parent->getParent()->addChild(nodeAxesVisual);
nodeAxesVisual->updateContext();
visuAxes=true;
}
else if(visuAxes && kpe->getKey()==49)
{
sofa::simulation::tree::GNode *parent = dynamic_cast<sofa::simulation::tree::GNode*>(this->getContext());
parent->getParent()->removeChild(nodeAxesVisual);
nodeAxesVisual->updateContext();
visuAxes=false;
}
if(visuAxes && haptionVisu.getValue())
{
double pi = 3.1415926535;
if ((kpe->getKey()=='X' || kpe->getKey()=='x') && !modX )
{
modX=true;
}
if ((kpe->getKey()=='Y' || kpe->getKey()=='y') && !modY )
{
modY=true;
}
if ((kpe->getKey()=='Z' || kpe->getKey()=='z') && !modZ )
{
modZ=true;
}
if ((kpe->getKey()=='Q' || kpe->getKey()=='q') && !modS )
{
modS=true;
}
if (kpe->getKey()==18) //left
{
if(modX || modY || modZ)
{
VecCoord& posB =(*posBase.beginEdit());
posB[0].getCenter()+=posB[0].getOrientation().rotate(Vec3d(-(int)modX,-(int)modY,-(int)modZ));
posBase.endEdit();
}
else
{
scale.setValue(scale.getValue()-5);
changeScale = true;
}
}
else if (kpe->getKey()==20) //right
{
if(modX || modY || modZ)
{
VecCoord& posB =(*posBase.beginEdit());
posB[0].getCenter()+=posB[0].getOrientation().rotate(Vec3d((int)modX,(int)modY,(int)modZ));
posBase.endEdit();
}
else
{
scale.setValue(scale.getValue()+5);
changeScale = true;
}
}
else if ((kpe->getKey()==21) && (modX || modY || modZ)) //down
{
VecCoord& posB =(*posBase.beginEdit());
sofa::helper::Quater<double> quarter_transform(Vec3d((int)modX,(int)modY,(int)modZ),-pi/50);
posB[0].getOrientation()*=quarter_transform;
posBase.endEdit();
}
else if ((kpe->getKey()==19) && (modX || modY || modZ)) //up
{
VecCoord& posB =(*posBase.beginEdit());
sofa::helper::Quater<double> quarter_transform(Vec3d((int)modX,(int)modY,(int)modZ),+pi/50);
posB[0].getOrientation()*=quarter_transform;
posBase.endEdit();
}
if ((kpe->getKey()=='E' || kpe->getKey()=='e'))
{
VecCoord& posB =(*posBase.beginEdit());
posB[0].clear();
posBase.endEdit();
}
if(modX || modY || modZ)
{
float baseFrame[7] = { (float) posBase.getValue()[0].getCenter()[0]/(float) scale.getValue(),
(float) posBase.getValue()[0].getCenter()[1]/(float) scale.getValue(),
(float) posBase.getValue()[0].getCenter()[2]/(float) scale.getValue(),
(float) posBase.getValue()[0].getOrientation()[0],
(float) posBase.getValue()[0].getOrientation()[1],
(float) posBase.getValue()[0].getOrientation()[2],
(float) posBase.getValue()[0].getOrientation()[3]
};
cout<<"virtSetBaseFrame return "<<virtSetBaseFrame(myData.m_virtContext, baseFrame)<<endl;
cout<<"virtGetErrorCode return "<<virtGetErrorCode(myData.m_virtContext)<<endl;
VecCoord& posH =*(visualHaptionDOF->x.beginEdit());
posH[0]=posBase.getValue()[0];
visualHaptionDOF->x.endEdit();
VecCoord& posA =*(visualAxesDOF->x.beginEdit());
posA[0]=posBase.getValue()[0];
posA[1]=posBase.getValue()[0];
posA[2]=posBase.getValue()[0];
visualAxesDOF->x.endEdit();
}
}
}
void IHPDriver::onKeyPressedEvent(core::objectmodel::KeypressedEvent *kpe)
{
cout<<"kpe"<<endl;
cout<<initVisu<<endl;
cout<<int(kpe->getKey())<<" "<<kpe->getKey()<<endl;
if(!visuAxes && kpe->getKey()==49+deviceIndex.getValue() && initVisu)
{
cout<<"axes on"<<endl;
simulation::Node *parent = dynamic_cast<simulation::Node *>(this->getContext());
parent->addChild(nodeAxesVisual);
nodeAxesVisual->updateContext();
visuAxes=true;
}
else if(visuAxes && kpe->getKey()==49+deviceIndex.getValue() && initVisu)
{
cout<<"axes off"<<endl;
simulation::Node *parent = dynamic_cast<simulation::Node *>(this->getContext());
parent->removeChild(nodeAxesVisual);
nodeAxesVisual->updateContext();
visuAxes=false;
}
if(visuAxes && xitactVisu.getValue())
{
double pi = 3.1415926535;
if ((kpe->getKey()=='X' || kpe->getKey()=='x') && !modX )
{
modX=true;
}
if ((kpe->getKey()=='Y' || kpe->getKey()=='y') && !modY )
{
modY=true;
}
if ((kpe->getKey()=='Z' || kpe->getKey()=='z') && !modZ )
{
modZ=true;
}
if ((kpe->getKey()=='Q' || kpe->getKey()=='q') && !modS )
{
modS=true;
}
if (kpe->getKey()==18) //left
{
if(modX || modY || modZ)
{
VecCoord& posB =(*positionBase.beginEdit());
posB[0].getCenter()+=posB[0].getOrientation().rotate(Vec3d(-5*(int)modX,-5*(int)modY,-5*(int)modZ));
positionBase.endEdit();
}
else if(modS)
{
Scale.setValue(Scale.getValue()-5);
changeScale = true;
}
}
else if (kpe->getKey()==20) //right
{
if(modX || modY || modZ)
{
VecCoord& posB =(*positionBase.beginEdit());
posB[0].getCenter()+=posB[0].getOrientation().rotate(Vec3d(5*(int)modX,5*(int)modY,5*(int)modZ));
positionBase.endEdit();
}
else if(modS)
{
Scale.setValue(Scale.getValue()+5);
changeScale = true;
}
}
else if ((kpe->getKey()==21) && (modX || modY || modZ)) //down
{
VecCoord& posB =(*positionBase.beginEdit());
sofa::helper::Quater<double> quarter_transform(Vec3d((int)modX,(int)modY,(int)modZ),-pi/50);
posB[0].getOrientation()*=quarter_transform;
positionBase.endEdit();
}
else if ((kpe->getKey()==19) && (modX || modY || modZ)) //up
{
VecCoord& posB =(*positionBase.beginEdit());
sofa::helper::Quater<double> quarter_transform(Vec3d((int)modX,(int)modY,(int)modZ),+pi/50);
posB[0].getOrientation()*=quarter_transform;
positionBase.endEdit();
}
if ((kpe->getKey()=='E' || kpe->getKey()=='e'))
{
VecCoord& posB =(*positionBase.beginEdit());
posB[0].clear();
positionBase.endEdit();
}
}
}