/*******************************************************************************
The main routine for rendering scene haptics.
*******************************************************************************/
void drawSceneHaptics()
{
hlGetDoublev(HL_PROXY_TOUCH_NORMAL, proxyNormal);
hlGetDoublev(HL_PROXY_POSITION, proxyPosition);
// Start haptic frame. (Must do this before rendering any haptic shapes.)
hlBeginFrame();
hlPushMatrix();
hlTouchModel(HL_CONTACT);
// Set material properties for the shapes to be drawn.
hlMaterialf(HL_FRONT_AND_BACK, HL_STIFFNESS, 0.9f);
hlMaterialf(HL_FRONT_AND_BACK, HL_DAMPING, 0.0f);
hlMaterialf(HL_FRONT_AND_BACK, HL_STATIC_FRICTION, 0.1);
hlMaterialf(HL_FRONT_AND_BACK, HL_DYNAMIC_FRICTION,0.1 );
hlHinti(HL_SHAPE_FEEDBACK_BUFFER_VERTICES, objmodel->numvertices);
hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, gShapeId);
// Render haptic shape
glPushMatrix();
glCallList(bumpList);
glPopMatrix();
// End the shape.
hlEndShape();
hlPopMatrix();
hlPushMatrix();
hlTouchModel(HL_CONSTRAINT);
hlMaterialf(HL_FRONT_AND_BACK, HL_STIFFNESS, 0.4f);
hlMaterialf(HL_FRONT_AND_BACK, HL_DAMPING, 0.3f);
hlMaterialf(HL_FRONT_AND_BACK, HL_STATIC_FRICTION, 0.1);
hlMaterialf(HL_FRONT_AND_BACK, HL_DYNAMIC_FRICTION,0.1 );
if (touchedHole && force[2] > -0.1 )
{
hlTouchModelf(HL_SNAP_DISTANCE, 300.0);
}
else
{
hlTouchModelf(HL_SNAP_DISTANCE, 3.0);
}
hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, gPointId);
glPushMatrix();
glPointSize(5.0);
glTranslatef(0.0, 0.0, 1.0);
glBegin(GL_POINTS);
glVertex3f(0.05,-0.175,-0.975);
glEnd();
glPopMatrix();
hlEndShape();
hlPopMatrix();
// End the haptic frame.
hlEndFrame();
}
void CTorus::drawHapticScene(bool primary_context)
{
hlMaterialf(HL_FRONT_AND_BACK, HL_STIFFNESS, m_stiffness);
hlMaterialf(HL_FRONT_AND_BACK, HL_DAMPING, m_dampening);
hlMaterialf(HL_FRONT_AND_BACK, HL_STATIC_FRICTION, m_static_friction);
hlMaterialf(HL_FRONT_AND_BACK, HL_DYNAMIC_FRICTION, m_dynamic_friction);
if(primary_context)
hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, m_shapeID);
else
hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, m_shapeID_1);
drawGLScene();
hlEndShape();
}
int CHapticViewerView::drawSceneHL(Mesh* pObj)
{
int triDrawCount = 0;
hlBeginFrame();
hlCheckEvents();
HLboolean buttDown;
hlGetBooleanv(HL_BUTTON1_STATE, &buttDown);
if (buttDown && pObj->isDragging)
{
updateDragObjectTransform(pObj);
}
if (m_bHapticCameraView)
hlEnable(HL_HAPTIC_CAMERA_VIEW);
else
hlDisable(HL_HAPTIC_CAMERA_VIEW);
if (m_bHapticAdaptiveViewport)
hlEnable(HL_ADAPTIVE_VIEWPORT);
else
hlDisable(HL_ADAPTIVE_VIEWPORT);
if (m_bShapeDepthBuffer)
hlBeginShape(HL_SHAPE_DEPTH_BUFFER, pObj->shapeId);
else
hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, pObj->shapeId);
const bool isHapticView = true;
triDrawCount = drawSceneGL(pObj, isHapticView);
hlEndShape();
hlEndFrame();
return triDrawCount;
}
/*******************************************************************************
The main routine for haptically rendering the scene.
*******************************************************************************/
void drawSceneHaptics()
{
hlBeginFrame();
hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, gSphereShapeId);
hlTouchableFace(HL_FRONT);
drawSphere();
hlEndShape();
hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, gTorusShapeId);
hlTouchableFace(HL_FRONT);
drawTorus();
hlEndShape();
hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, gTeapotShapeId);
hlTouchableFace(HL_BACK);
drawTeapot();
hlEndShape();
hlEndFrame();
// Call any event callbacks that have been triggered.
hlCheckEvents();
}
/* redisplaying graphics */
void Display(void)
{
hlBeginFrame();
hlMaterialf(HL_FRONT_AND_BACK, HL_STATIC_FRICTION, 0.1);
hlMaterialf(HL_FRONT_AND_BACK, HL_DYNAMIC_FRICTION, 0.8);
hlCheckEvents();
/* clear the display */
//glClear(GL_COLOR_BUFFER_BIT);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//materialsTest();
if (mDrawSurface)
mSurface.DrawSurface();
// draw the haptic surface
hlHintb(HL_SHAPE_DYNAMIC_SURFACE_CHANGE, HL_TRUE);
hlTouchableFace(HL_BACK);
hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, mSurfaceShapeId);
mSurface.DrawSurface();
hlEndShape();
glDisable(GL_LIGHTING);
if (mDrawSystem)
mPS.Draw();
if (mDrawNormals)
mSurface.DrawSurfaceNormals();
glEnable(GL_LIGHTING);
// draw the 3D cursor
RedrawCursor();
// show FPS
if (mDrawInfo != drawInfo_None)
DisplayInfo();
// swap the double buffers
glutSwapBuffers();
hlEndFrame();
}
//*******************************************************************************
void HapticConstraint::renderConstraint( HapticObject * pObj )
{
// den Constraint nur dann rendern, wenn er aktiviert ist
if (!m_Enabled)
{
return;
}
hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, m_HLConstraintID);
hlTouchModel(HL_CONSTRAINT);
hlTouchModelf(HL_SNAP_DISTANCE, m_SnapDistance);
pObj->renderShapeAtPosition();
hlEndShape();
}
//*******************************************************************************
void HapticObject::renderHaptics()
{
hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, m_HLShapeID);
hlTouchModel(HL_CONTACT);
// Dummy
renderDefaultHapticProperties();
renderShapeAtPosition();
hlEndShape();
if (m_pHapticConstraint != NULL)
{
m_pHapticConstraint->renderConstraint(this);
}
}
void Window::hapticRendering()
{
hlBeginFrame();
hlMaterialf(HL_FRONT_AND_BACK, HL_STIFFNESS, haptic.getStiffness());
hlMaterialf(HL_FRONT_AND_BACK, HL_DAMPING, haptic.getDamping());
hlMaterialf(HL_FRONT_AND_BACK, HL_STATIC_FRICTION, haptic.getStaticFriction());
hlMaterialf(HL_FRONT_AND_BACK, HL_DYNAMIC_FRICTION, haptic.getDynamicFriction());
hlMaterialf(HL_FRONT_AND_BACK, HL_POPTHROUGH, haptic.getPopthroughValue());
hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, haptic.getShapeID());
//vertexArrayObject.bind();
shaderProgram->bind();
shaderProgram->setUniformValue("translateFactor", -1.0f, -1.0f, 0.0f);
shaderProgram->setUniformValue("mvp", QMatrix4x4(glm::value_ptr(mvp)));
glDrawElements(GL_TRIANGLES, mesh->getNumberOfIndices(), GL_UNSIGNED_INT,
0);
//vertexArrayObject.release();
shaderProgram->release();
hlEndShape();
hlEndFrame();
}
void display(void)
{
// Start a haptic frame.
hlBeginFrame();
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glColor3f(1.0, 1.0, 1.0);
// Start the haptic shape.
hlBeginShape(HL_SHAPE_DEPTH_BUFFER, gMyShapeId);
glBegin(GL_POLYGON);
glVertex3f(0.25, 0.25, 0.0);
glVertex3f(0.75, 0.25, 0.0);
glVertex3f(0.75, 0.75, 0.0);
glVertex3f(0.25, 0.75, 0.0);
glEnd();
// End the haptic shape.
hlEndShape();
// End the haptic frame.
hlEndFrame();
}
void CybPhantom::hapticRendering()
{
if(!shapeIdListIscreated)
{
genShapeIdList(cybCore->numLayer);
shapeIdListIscreated = true;
}
if(habHapticLayers == NULL)
{
cout<<"Message Error: Haptic Layer don't exist!"<<endl;
}
else{
hlBeginFrame();
glPushMatrix();
//cout << "Haptic layers " << numHapticLayers << endl;
for(int j = 0; j < numHapticLayers; j++){
if(habHapticLayers[j] == true){
glTranslated(cybCore->xTrans + cybCore->layerTrans[j][0], cybCore->yTrans + cybCore->layerTrans[j][1], cybCore->zTrans + cybCore->layerTrans[j][2]);
glScaled(cybCore->xScale * cybCore->layerSca[j][0], cybCore->yScale * cybCore->layerSca[j][1], cybCore->zScale * cybCore->layerSca[j][2]);
glTranslated(cybCore->cX, cybCore->cY, cybCore->cZ);
glRotated(cybCore->getXAngle() + cybCore->layerRot[j][0],1,0,0);
glRotated(cybCore->getYAngle() + cybCore->layerRot[j][1],0,1,0);
glRotated(cybCore->getZAngle() + cybCore->layerRot[j][2],0,0,1);
glTranslated(-cybCore->cX, -cybCore->cY, -cybCore->cZ);
if(materialPropertiesIsEnable){
if(cybCore->materialPropertyContextCreated() && cybCore->propertyFaceModified())
updateHapticsFaces();
if(habHapticLayersMaterial == NULL)
{
cout<<"Message Error: Material context don't exist!"<<endl;
}
else{
if(habHapticLayersMaterial[j] == true){
hlMaterialf(propertyFace[j][0], HL_STIFFNESS, cybCore->getMaterialPropertyValue(j, STIFFNESS));
hlMaterialf(propertyFace[j][1], HL_DAMPING, cybCore->getMaterialPropertyValue(j, DAMPING));
hlMaterialf(propertyFace[j][2], HL_STATIC_FRICTION, cybCore->getMaterialPropertyValue(j, STATIC_FRICTION));
hlMaterialf(propertyFace[j][3], HL_DYNAMIC_FRICTION, cybCore->getMaterialPropertyValue(j, DYNAMIC_FRICTION));
if(ambientPropertyIsEnable){
hlMaterialf(HL_FRONT_AND_BACK, HL_POPTHROUGH,1);
}
else{
hlMaterialf(propertyFace[j][4], HL_POPTHROUGH,cybCore->getMaterialPropertyValue(j, POPTHROUGH));
}
}
}
}
hlHinti(HL_SHAPE_FEEDBACK_BUFFER_VERTICES, cybCore->nv[j]);
hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, shapeId[j]);
if(ambientPropertyIsEnable)
hlTouchableFace(CybViscosity::ViscosityShapeAttribute[j].currentFace);
else hlTouchableFace(HL_FRONT_AND_BACK);
CybVector3D<float> v1;
for(int i = 0; i < cybCore->nt[j]; i++){
glBegin(GL_TRIANGLES);
v1 = cybCore->vNormalCell[j][i];
glNormal3f(v1[0], v1[1], v1[2]);
v1 = cybCore->coordList[j][cybCore->v[j][i][0]];
glVertex3f(v1[0], v1[1], v1[2]);
v1 = cybCore->coordList[j][cybCore->v[j][i][1]];
glVertex3f(v1[0], v1[1], v1[2]);
v1 = cybCore->coordList[j][cybCore->v[j][i][2]];
glVertex3f(v1[0], v1[1],v1[2]);
glEnd();
glFlush();
}
hlEndShape();
}
glLoadIdentity();
}
glPopMatrix();
hlEndFrame();
}
hlCheckEvents();
}
void CCylinder::drawHapticScene(bool primary_context)
{
hlMaterialf(HL_FRONT_AND_BACK, HL_STIFFNESS, m_stiffness);
hlMaterialf(HL_FRONT_AND_BACK, HL_DAMPING, m_dampening);
hlMaterialf(HL_FRONT_AND_BACK, HL_STATIC_FRICTION, m_static_friction);
hlMaterialf(HL_FRONT_AND_BACK, HL_DYNAMIC_FRICTION, m_dynamic_friction);
if ( !m_customRendered )
{
if(primary_context)
hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, m_shapeID);
else
hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, m_shapeID_1);
drawGLScene();
hlEndShape();
}
else
{
// Draw cylinder section
if(primary_context)
hlBeginShape(HL_SHAPE_CALLBACK, m_shapeID );
else
hlBeginShape(HL_SHAPE_CALLBACK, m_shapeID_1 );
hlCallback(HL_SHAPE_INTERSECT_LS,
(HLcallbackProc) CHapticCylinder::intersectSurface, (void *) customCylinder);
hlCallback(HL_SHAPE_CLOSEST_FEATURES,
(HLcallbackProc) CHapticCylinder::closestSurfaceFeatures, (void *) customCylinder);
hlEndShape();
// Draw disk A
if(primary_context)
hlBeginShape(HL_SHAPE_CALLBACK, diskAShape->GetShapeID () );
else
hlBeginShape(HL_SHAPE_CALLBACK, diskAShape->GetShapeID_1 ());
diskATrans->makeIdentity ();
diskATrans->multRight ( hduMatrix::createRotation ( 1, 0, 0, 0.5*PI ) );
diskATrans->multRight ( hduMatrix::createTranslation ( 0, 0, 0.5 ) );
diskATrans->multRight ( hduMatrix::createScale ( getSizeX(), getSizeY(), getSizeZ() ) );
diskATrans->multRight ( getHduMatrix ( getRotation () ) );
diskATrans->multRight ( hduMatrix::createTranslation ( getLocationX(), getLocationY(), getLocationZ () ) );
hlCallback(HL_SHAPE_INTERSECT_LS,
(HLcallbackProc) CHapticDisk::intersectSurface, (void *) diskA);
hlCallback(HL_SHAPE_CLOSEST_FEATURES,
(HLcallbackProc) CHapticDisk::closestSurfaceFeatures, (void *) diskA);
hlEndShape();
// Draw disk B
if(primary_context)
hlBeginShape(HL_SHAPE_CALLBACK, diskBShape->GetShapeID () );
else
hlBeginShape(HL_SHAPE_CALLBACK, diskBShape->GetShapeID_1 ());
diskBTrans->makeIdentity ();
diskBTrans->multRight ( hduMatrix::createRotation ( 1, 0, 0, -0.5*PI ) );
diskBTrans->multRight ( hduMatrix::createTranslation ( 0, 0, -0.5 ) );
diskBTrans->multRight ( hduMatrix::createScale ( getSizeX(), getSizeY(), getSizeZ() ) );
diskBTrans->multRight ( getHduMatrix ( getRotation () ) );
diskBTrans->multRight ( hduMatrix::createTranslation ( getLocationX(), getLocationY(), getLocationZ () ) );
hlCallback(HL_SHAPE_INTERSECT_LS,
(HLcallbackProc) CHapticDisk::intersectSurface, (void *) diskB);
hlCallback(HL_SHAPE_CLOSEST_FEATURES,
(HLcallbackProc) CHapticDisk::closestSurfaceFeatures, (void *) diskB);
hlEndShape();
}
}