/*
* routines for managing runtime display of ray traced scene
*/
static dispHandle * tachyon_display_create(SceneHandle scene) {
dispHandle * dh;
dh = (dispHandle *) malloc(sizeof(dispHandle));
if (dh != NULL) {
memset(dh, 0, sizeof(dispHandle));
rt_get_resolution(scene, &dh->xsize, &dh->ysize);
#if defined(USEOPENGL) || defined(USERTVI)
dh->img = malloc((dh->xsize)*(dh->ysize)*3);
if (dh->img != NULL) {
#if defined(USEOPENGL)
dh->glwin = glwin_create("Tachyon Parallel/Multiprocessor Ray Tracer", dh->xsize, dh->ysize);
#elif defined(USERTVI)
dh->rtviwin = rt_rtvi_init(dh->xsize, dh->ysize);
#endif
rt_rawimage_rgb24(scene, dh->img);
}
else {
printf("Couldn't allocate image buffer for framebuffer display!!\n");
free(dh);
return NULL;
}
#endif
}
return dh;
}
int main(int argc, char **argv) {
if (argc < 2) {
printf("%s: Invalid parms\n", argv[0]);
printf("usage: \n");
printf(" %s Tracker0@host\n", argv[0]);
return -1;
}
char *server = argv[1];
pos *phan_position = new pos;
pos *phan_offset = new pos;
force *phan_force = new force;
state *atom_state = new state;
int ff_enabled, ff_active;
double kspr = 500.0; // Units???
vrpn_Tracker_Remote *tkr;
vrpn_Button_Remote *btn;
vrpn_ForceDevice_Remote *fdv;
printf("Opening: %s ...\n", server);
tkr = new vrpn_Tracker_Remote(server);
tkr->register_change_handler(phan_position, handle_tracker);
btn = new vrpn_Button_Remote(server);
btn->register_change_handler(&ff_enabled, handle_button);
fdv = new vrpn_ForceDevice_Remote(server);
fdv->register_force_change_handler(phan_force, handle_force);
void * myglwin = glwin_create(700, 700);
if (myglwin == NULL) {
printf("Failed to open OpenGL window!!\n");
return -1;
}
atom_state->x = 0.0; atom_state->y = 0.0; atom_state->z = 0.0;
atom_state->vx = 0.0; atom_state->vy = 0.0; atom_state->vz = 0.0;
atom_state->ax = 0.0; atom_state->ay = 0.0; atom_state->az = 0.0;
atom_state->mass = .001;
ff_active = 0;
init_graphics(myglwin);
GLUquadricObj *qobj = gluNewQuadric();
GLUquadricObj *qatom = gluNewQuadric();
/*
* main interactive loop
*/
while (1) {
// Let the tracker do its thing
tkr->mainloop();
btn->mainloop();
fdv->mainloop();
run_dynamics(atom_state, phan_force);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
if (ff_enabled ) {
if (!ff_active) {
// Set up force field so initially the force is zero
phan_offset->x = phan_position->x - .2*atom_state->x;
phan_offset->y = phan_position->y - .2*atom_state->y;
phan_offset->z = phan_position->z - .2*atom_state->z;
}
// Now turn the force field on
// scene -> haptic: rotate 180 about the y axis
fdv->setConstraintMode(vrpn_ForceDevice::POINT_CONSTRAINT);
float cpos[3];
cpos[0] = -(.2*atom_state->x + phan_offset->x);
cpos[1] = (.2*atom_state->y + phan_offset->y);
cpos[2] = -(.2*atom_state->z + phan_offset->z);
fdv->setConstraintPoint(cpos);
fdv->setConstraintKSpring(kspr);
fdv->enableConstraint(1); // enable force field
ff_active = 1;
}
else if (ff_active) {
fdv->enableConstraint(0); // disable force field
ff_active = 0;
}
draw_axes();
draw_tracker_and_atom(phan_force, qobj, atom_state, qatom);
glwin_swap_buffers(myglwin);
}
} /* main */
