CToolGripper.h

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//==============================================================================
/*
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    \author    <http://www.chai3d.org>
    \author    Francois Conti
    \author    Federico Barbagli
    \version   3.2.0 $Rev: 1869 $
*/
//==============================================================================

//------------------------------------------------------------------------------
#ifndef CToolGripperH
#define CToolGripperH
//------------------------------------------------------------------------------
#include "tools/CGenericTool.h"
//------------------------------------------------------------------------------

//------------------------------------------------------------------------------
namespace chai3d {
//------------------------------------------------------------------------------

//==============================================================================
//==============================================================================

//==============================================================================
//==============================================================================
class cToolGripper : public cGenericTool
{
    //--------------------------------------------------------------------------
    // CONSTRUCTOR & DESTRUCTOR:
    //--------------------------------------------------------------------------

public:

    cToolGripper(cWorld* a_parentWorld);

    virtual ~cToolGripper();


    //--------------------------------------------------------------------------
    // PUBLIC MEMBERS
    //--------------------------------------------------------------------------

public:

    // Haptic point modeling the thumb.
    cHapticPoint* m_hapticPointThumb;

    // Haptic point modeling the index.
    cHapticPoint* m_hapticPointFinger;


    //--------------------------------------------------------------------------
    // PUBLIC METHODS
    //--------------------------------------------------------------------------

public:

    virtual void computeInteractionForces();

    virtual void render(cRenderOptions& a_options);

    virtual void setGripperWorkspaceScale(double a_gripperWorkspaceScale) { m_gripperWorkspaceScale = fabs(a_gripperWorkspaceScale); }

    virtual double getGripperWorskpaceScale() { return (m_gripperWorkspaceScale); }


    //--------------------------------------------------------------------------
    // MEMBERS
    //--------------------------------------------------------------------------

protected:

    // Workspace scale factor of force gripper.
    double m_gripperWorkspaceScale;
};

//------------------------------------------------------------------------------
} // namespace chai3d
//------------------------------------------------------------------------------

//------------------------------------------------------------------------------
#endif
//------------------------------------------------------------------------------