/*******************************************************************************
Main callback that calculates and sets the force.
*******************************************************************************/
HDCallbackCode HDCALLBACK CoulombCallback(void *data)
{
HHD hHD = hdGetCurrentDevice();
hdBeginFrame(hHD);
hduVector3Dd pos;
hdGetDoublev(HD_CURRENT_POSITION,pos);
hduVector3Dd forceVec;
forceVec = forceField(pos);
hdSetDoublev(HD_CURRENT_FORCE, forceVec);
hdEndFrame(hHD);
HDErrorInfo error;
if (HD_DEVICE_ERROR(error = hdGetError()))
{
hduPrintError(stderr, &error, "Error during scheduler callback");
if (hduIsSchedulerError(&error))
{
return HD_CALLBACK_DONE;
}
}
return HD_CALLBACK_CONTINUE;
}
// --- Parameters ---------------------------------------------------------- //
const MmffAtomParameters* MmffAtom::parameters() const
{
const MmffParameters *mmffParameters = static_cast<const MmffForceField *>(forceField())->parameters();
if(!mmffParameters)
return 0;
return mmffParameters->atomParameters(this);
}
/*******************************************************************************
Graphics main loop function.
*******************************************************************************/
void displayFunction(void)
{
// Setup model transformations.
glMatrixMode(GL_MODELVIEW);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glPushMatrix();
setupGraphicsState();
drawAxes(sphereRadius*3.0);
// Draw the fixed sphere.
static const hduVector3Dd fixedSpherePosition(0, 0, 0);
static const float fixedSphereColor[4] = {.2, .8, .8, .8};
GLUquadricObj* pQuadObj = gluNewQuadric();
drawSphere(pQuadObj, fixedSpherePosition, fixedSphereColor, sphereRadius);
// Get the current position of end effector.
DeviceDisplayState state;
hdScheduleSynchronous(DeviceStateCallback, &state,
HD_MIN_SCHEDULER_PRIORITY);
// Draw a sphere to represent the haptic cursor and the dynamic
// charge.
static const float dynamicSphereColor[4] = { .8, .2, .2, .8 };
drawSphere(pQuadObj,
state.position,
dynamicSphereColor,
sphereRadius);
// Create the force vector.
hduVector3Dd forceVector = 400.0 * forceField(state.position);
drawForceVector(pQuadObj,
state.position,
forceVector,
sphereRadius*.1);
gluDeleteQuadric(pQuadObj);
glPopMatrix();
glutSwapBuffers();
}
/***************************************************************************************
Servo loop thread callback. Computes a force effect. This callback defines the motion
of the purple skull and calculates the force based on the "real-time" Proxy position
in Device space.
****************************************************************************************/
void HLCALLBACK computeForceCB(HDdouble force[3], HLcache *cache, void *userdata)
{
DataTransportClass *localdataObject = (DataTransportClass *) userdata;//Typecast the pointer passed in appropriately
hduVector3Dd skullPositionDS;//Position of the skull (Moving sphere) in Device Space.
hduVector3Dd proxyPosition;//Position of the proxy in device space
HDdouble instRate = 0.0;
HDdouble deltaT = 0.0;
static float counter = 0.0;
float degInRad = 0.0;
static int counter1 = 0;
// Get the time delta since the last update.
hdGetDoublev(HD_INSTANTANEOUS_UPDATE_RATE, &instRate);
deltaT = 1.0 / instRate;
counter+=deltaT;
degInRad = counter*20*3.14159/180;
hduVector3Dd ModelPos = localdataObject->Model->getTranslation();
localdataObject->Model->setTranslation(-ModelPos);
localdataObject->Model->setTranslation(cos(degInRad)*64.0, sin(degInRad)*64.0,5.0);//Move the skull aroubnd in a circle
WorldToDevice.multVecMatrix(localdataObject->Model->getTranslation(),skullPositionDS);//Convert the position of the sphere from world space to device space
hlCacheGetDoublev(cache, HL_PROXY_POSITION, proxyPosition);//Get the position of the proxy in Device Coordinates (All HL commands in the servo loop callback fetch values in device coordinates)
forceVec = forceField(proxyPosition, skullPositionDS, 40.0, 5.0);//Calculate the force
counter1++;
if(counter1>2000)//Make the force start after 2 seconds of program start. This is because the servo loop thread executes before the graphics thread.
//Hence global variables set in the graphics thread will not be valid for sometime in the begining og the program
{
force[0] = forceVec[0];
force[1] = forceVec[1];
force[2] = forceVec[2];
counter1 = 2001;
}
else
{
force[0] = 0.0;
force[1] = 0.0;
force[2] = 0.0;
}
}
/// Returns the energy gradient for the atom.
Vector3 ForceFieldAtom::gradient() const
{
return forceField()->gradient()[index()];
}
