OgreHapticsForceOutput.h

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/*
This source file is part of OgreHaptics
 (a library for wrapping haptics devices for use with the open-source
 graphics engine OGRE, http://www.ogre3d.org)

Copyright (c) 2006 - 2008 Jorrit de Vries
Also see acknowledgements in Readme.html

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public License
as published by the Free Software Foundation; either version 2.1
of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the
Free Software Foundation, Inc.,
59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 
*/
#ifndef _OgreHapticsForceOutput_H__
#define _OgreHapticsForceOutput_H__

#include "OgreHapticsPrerequisites.h"

namespace OgreHaptics {

    class _OgreHapticsExport ForceOutput
    {
    public:
        ForceOutput()
            : force(Vector3::ZERO),
            torque(Vector3::ZERO)
        {
        }
        ForceOutput(const Vector3& f, const Vector3& t)
            : force(f),
            torque(t)
        {
        }
        virtual ~ForceOutput() {}

        inline ForceOutput& operator = (const ForceOutput& rhs)
        {
            force = rhs.force;
            torque = rhs.torque;
            return *this;
        }

        // Arithmetic operations
        inline ForceOutput operator + (const ForceOutput& rhs)
        {
            return ForceOutput(force + rhs.force, torque + rhs.torque);
        }

        inline ForceOutput operator * (const Real scalar)
        {
            return ForceOutput(force * scalar, torque * scalar);
        }

        // Arithmetic updates
        inline ForceOutput& operator += (const ForceOutput& rhs)
        {
            force += rhs.force;
            torque += rhs.torque;
            return *this;
        }

        inline ForceOutput& operator *= (const Real scalar)
        {
            force *= scalar;
            torque *= scalar;
            return *this;
        }

        // Overloaded operator to help ForceOutput
        inline friend ForceOutput operator * (
            const ForceOutput& lhs, const Real scalar)
        {
            return ForceOutput(scalar * lhs.force, scalar * lhs.force);
        }

        inline void clear(void)
        {
            force = Vector3::ZERO;
            torque = Vector3::ZERO;
        }

        Vector3 force;
        Vector3 torque;
    };

}

#endif

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Last modified Tue Jan 6 22:31:25 2009