/*
Function: InitHL
Usage: InitHL();
---------------------------------------------------------------------------
Initializes haptic device and haptic rendering library.
*/
void InitHL()
{
HDErrorInfo error;
hHD = hdInitDevice(HD_DEFAULT_DEVICE);
if (HD_DEVICE_ERROR(error = hdGetError()))
{
hduPrintError(stderr, &error, "Failed to initialize haptic device");
fprintf(stderr, "Press any key to exit");
getchar();
exit(1);
}
// Create a haptic context for the device. The haptic context maintains
// the state that persists between frame intervals and is used for
// haptic rendering.
hHLRC = hlCreateContext(hHD);
hlMakeCurrent(hHLRC);
// generate a shape id to hold the haptic surface rep
mSurfaceShapeId = hlGenShapes(1);
// add a callback to handle motion while touching surface
hlAddEventCallback(HL_EVENT_TOUCH, mSurfaceShapeId, HL_CLIENT_THREAD,
OnTouchSurface, NULL);
hlAddEventCallback(HL_EVENT_UNTOUCH, mSurfaceShapeId, HL_CLIENT_THREAD,
OnTouchSurface, NULL);
// set motion tolerance to 0 so we get motion event when
// when not moving.
hlEventd(HL_EVENT_MOTION_LINEAR_TOLERANCE, 0);
hlAddEventCallback(HL_EVENT_MOTION, mSurfaceShapeId, HL_CLIENT_THREAD,
OnDragSurface, NULL);
}
void CybPhantom::genShapeIdList(int num)
{
shapeId = new HLuint[num];
for(int i = 0; i < num; i++){
shapeId[i] = hlGenShapes(1);
}
}
//*******************************************************************************
HapticObject::HapticObject()
: m_HLShapeID(hlGenShapes(1))
{
// defaultmäßig ein Constraint definieren, aber deaktivieren
m_pHapticConstraint = new HapticConstraint(1.0);
m_pHapticConstraint->disable();
// Position beim Erzeugen des Objektes ist immer [0.0, 0.0, 0.0]
m_transformMatrix.makeIdentity();
}
/*******************************************************************************
Initialize the HDAPI. This involves initing a device configuration, enabling
forces, and scheduling a haptic thread callback for servicing the device.
*******************************************************************************/
void initHL()
{
HDErrorInfo error;
ghHD = hdInitDevice( HD_DEFAULT_DEVICE );
if (HD_DEVICE_ERROR(error = hdGetError()))
{
hduPrintError(stderr, &error, "Failed to initialize haptic device");
fprintf(stderr, "Press any key to exit");
getchar();
exit(-1);
}
/*************************************************************
ADDED
*************************************************************/
hdScheduleAsynchronous(hdBeginCB, 0, HD_MAX_SCHEDULER_PRIORITY);
hdScheduleAsynchronous(hdEndCB, 0, HD_MIN_SCHEDULER_PRIORITY);
/*************************************************************
END ADDED
*************************************************************/
ghHLRC = hlCreateContext(ghHD);
hlMakeCurrent(ghHLRC);
// Enable optimization of the viewing parameters when rendering
// geometry for OpenHaptics.
hlEnable(HL_HAPTIC_CAMERA_VIEW);
// Generate id for the shape.
gShapeId = hlGenShapes(1);
gPointId = hlGenShapes(1);
hlTouchableFace(HL_FRONT);
hlAddEventCallback(HL_EVENT_TOUCH,gPointId , HL_COLLISION_THREAD,
hlTouchCB, 0);
hlAddEventCallback(HL_EVENT_UNTOUCH,gPointId , HL_COLLISION_THREAD,
hlUnTouchCB, 0);
}
void init(void)
{
glClearColor(0.0, 0.0, 0.0, 0.0);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glOrtho(0.0, 1.0, 0.0, 1.0, -1.0, 1.0);
// Enable depth buffering to provide depth information for OpenHaptics.
glDepthFunc(GL_LEQUAL);
glEnable(GL_DEPTH_TEST);
// OpenHaptics setup follows:
// Create a haptic device instance.
HDErrorInfo error;
HHD hHD = hdInitDevice(HD_DEFAULT_DEVICE);
if (HD_DEVICE_ERROR(error = hdGetError()))
{
hduPrintError(stderr, &error, "Failed to initialize haptic device");
fprintf(stderr, "Press any key to exit");
getchar();
exit(-1);
}
if (HD_SUCCESS != hdGetError().errorCode)
{
fprintf(stderr, "Erorr initializing haptic device.\nPress any key to exit");
getchar();
exit(-1);
}
// Create a haptic rendering context and activate it.
HHLRC hHLRC = hlCreateContext(hHD);
hlMakeCurrent(hHLRC);
// Reserve an id for the shape
gMyShapeId = hlGenShapes(1);
// Specify the boundaries for the workspace of the haptic device
// in millimeters in the cordinates of the haptic device.
// The haptics engine will map the view volume to this workspace
hlWorkspace (-80, -80, -70, 80, 80, 20);
// Specify the haptic view volume (in this case it will be
// the same as the graphic view volume).
hlMatrixMode(HL_TOUCHWORKSPACE);
hlLoadIdentity();
hlOrtho (0.0, 1.0, 0.0, 1.0, -1.0, 1.0);
}
RigidBody::RigidBody(const char *name) :
massInv(0),
x(0,0,0),
q(),
P(0,0,0),
L(0,0,0),
v(0,0,0),
omega(0,0,0),
force(0,0,0),
torque(0,0,0)
{
zeroMatrix(Ibody);
zeroMatrix(Ibodyinv);
zeroMatrix(Iinv);
zeroMatrix(R);
setName(name);
shapeId = hlGenShapes(1);
}
//*******************************************************************************
HapticConstraint::HapticConstraint( HLfloat snapDist )
: m_HLConstraintID(hlGenShapes(1))
{
m_SnapDistance = snapDist;
m_Enabled = true;
}
/*******************************************************************************
Initialize the HDAPI. This involves initing a device configuration, enabling
forces, and scheduling a haptic thread callback for servicing the device.
*******************************************************************************/
void initHL()
{
HDErrorInfo error;
hHD = hdInitDevice(HD_DEFAULT_DEVICE);
if (HD_DEVICE_ERROR(error = hdGetError()))
{
hduPrintError(stderr, &error, "Failed to initialize haptic device");
fprintf(stderr, "Press any key to exit");
getchar();
exit(-1);
}
hHLRC = hlCreateContext(hHD);
hlMakeCurrent(hHLRC);
// Enable optimization of the viewing parameters when rendering
// geometry for OpenHaptics.
hlEnable(HL_HAPTIC_CAMERA_VIEW);
// Generate id's for the three shapes.
gSphereShapeId = hlGenShapes(1);
gTorusShapeId = hlGenShapes(1);
gTeapotShapeId = hlGenShapes(1);
// Setup event callbacks.
hlAddEventCallback(HL_EVENT_TOUCH, HL_OBJECT_ANY, HL_CLIENT_THREAD,
&touchShapeCallback, NULL);
hlAddEventCallback(HL_EVENT_UNTOUCH, HL_OBJECT_ANY, HL_CLIENT_THREAD,
&untouchShapeCallback, NULL);
hlAddEventCallback(HL_EVENT_TOUCH, gSphereShapeId, HL_CLIENT_THREAD,
&touchSphereCallback, NULL);
hlAddEventCallback(HL_EVENT_UNTOUCH, gSphereShapeId, HL_CLIENT_THREAD,
&untouchSphereCallback, NULL);
hlAddEventCallback(HL_EVENT_TOUCH, gTorusShapeId, HL_CLIENT_THREAD,
&touchTorusCallback, NULL);
hlAddEventCallback(HL_EVENT_UNTOUCH, gTorusShapeId, HL_CLIENT_THREAD,
&untouchTorusCallback, NULL);
hlAddEventCallback(HL_EVENT_TOUCH, gTeapotShapeId, HL_CLIENT_THREAD,
&touchTeapotCallback, NULL);
hlAddEventCallback(HL_EVENT_UNTOUCH, gTeapotShapeId, HL_CLIENT_THREAD,
&untouchTeapotCallback, NULL);
hlAddEventCallback(HL_EVENT_1BUTTONDOWN, HL_OBJECT_ANY, HL_CLIENT_THREAD,
&button1DownCallback, NULL);
hlAddEventCallback(HL_EVENT_1BUTTONUP, HL_OBJECT_ANY, HL_CLIENT_THREAD,
&button1UpCallback, NULL);
hlAddEventCallback(HL_EVENT_2BUTTONDOWN, HL_OBJECT_ANY, HL_CLIENT_THREAD,
&button2DownCallback, NULL);
hlAddEventCallback(HL_EVENT_2BUTTONUP, HL_OBJECT_ANY, HL_CLIENT_THREAD,
&button2UpCallback, NULL);
hlAddEventCallback(HL_EVENT_3BUTTONDOWN, HL_OBJECT_ANY, HL_CLIENT_THREAD,
&button3DownCallback, NULL);
hlAddEventCallback(HL_EVENT_3BUTTONUP, HL_OBJECT_ANY, HL_CLIENT_THREAD,
&button3UpCallback, NULL);
hlAddEventCallback(HL_EVENT_1BUTTONDOWN, gSphereShapeId, HL_CLIENT_THREAD,
&button1DownSphereCallback, NULL);
hlAddEventCallback(HL_EVENT_1BUTTONUP, gSphereShapeId, HL_CLIENT_THREAD,
&button1UpSphereCallback, NULL);
hlAddEventCallback(HL_EVENT_MOTION, HL_OBJECT_ANY, HL_CLIENT_THREAD,
&motionCallback, NULL);
hlAddEventCallback(HL_EVENT_MOTION, gSphereShapeId, HL_CLIENT_THREAD,
&motionOnSphereCallback, NULL);
hlAddEventCallback(HL_EVENT_CALIBRATION_UPDATE, HL_OBJECT_ANY,
HL_CLIENT_THREAD, &calibrationCallback, NULL);
hlAddEventCallback(HL_EVENT_CALIBRATION_INPUT, HL_OBJECT_ANY,
HL_CLIENT_THREAD, &calibrationCallback, NULL);
}
