/*******************************************************************************
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();
}
int CHapticViewerView::drawSceneGL(Mesh* pObj, bool isHapticView)
{
int triCount = 0;
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glPushMatrix();
glMultMatrixd(pObj->transform);
hduVector3Dd* currFrustum = m_graphicFrustum;
if (isHapticView)
{
// haptic render pass
if (!m_bSinglePassRender)
{
getViewVolumeInModelCoord(m_hapticCameraFrustum);
if (m_bHapticCameraView)
currFrustum = m_hapticCameraFrustum;
if (!m_bShapeDepthBuffer)
{
// FEEDBACK_BUFFER shape,
// count number of tris and send hint
int triCount = pObj->numTri(currFrustum);
hlHinti(HL_SHAPE_FEEDBACK_BUFFER_VERTICES, triCount*3);
}
}
}
glEnable(GL_COLOR_MATERIAL);
glColor3f(0.5, 0.5, 0.5);
triCount = pObj->drawGL(currFrustum);
glPopMatrix();
return triCount;
}
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();
}
