/*******************************************************************************
Use the current OpenGL viewing transforms to initialize a transform for the
haptic device workspace so that it's properly mapped to world coordinates.
*******************************************************************************/
void updateWorkspace()
{
GLdouble modelview[16];
GLdouble projection[16];
GLint viewport[4];
// HLdouble minn[3]={-0.5,-0.5, 0.5};
// HLdouble maxx[3]={0.5,0.35,1.5};
HLdouble minn[3]={-0.4,-0.5, -0.4};
HLdouble maxx[3]={0.4,0.5,0.4};
glGetDoublev(GL_MODELVIEW_MATRIX, modelview);
glGetDoublev(GL_PROJECTION_MATRIX, projection);
glGetIntegerv(GL_VIEWPORT, viewport);
hlMatrixMode(HL_TOUCHWORKSPACE);
hlLoadIdentity();
hluFitWorkspaceBox(modelview, minn, maxx);
// Compute cursor scale.
gCursorScale = hluScreenToModelScale(modelview, projection, viewport);
gCursorScale *= CURSOR_SIZE_PIXELS;
hlMatrixMode(HL_MODELVIEW);
hlLoadMatrixd(modelview);
}
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);
}
void CHapticViewerView::updateWorkspace()
{
GLdouble modelview[16];
GLdouble projection[16];
GLint viewport[4];
glGetDoublev(GL_MODELVIEW_MATRIX, modelview);
glGetDoublev(GL_PROJECTION_MATRIX, projection);
glGetIntegerv(GL_VIEWPORT, viewport);
hlMatrixMode(HL_TOUCHWORKSPACE);
hlLoadIdentity();
// Fit haptic workspace to view volume.
hluFitWorkspace(projection);
// Compute cursor scale.
m_cursorScale = hluScreenToModelScale(modelview, projection, viewport);
m_cursorScale *= CURSOR_SIZE_PIXELS;
}
void CybPhantom::hapticWorkspaceCalibration()
{
GLdouble projection[16];
GLdouble modelview[16];
GLint viewport[4];
glGetDoublev(GL_PROJECTION_MATRIX, projection);
glGetDoublev(GL_MODELVIEW_MATRIX, modelview);
glGetIntegerv(GL_VIEWPORT, viewport);
hlWorkspace(-90,-60,-50,90,60,50);
hlMatrixMode(HL_TOUCHWORKSPACE);
hduMapWorkspaceModel(modelview, projection, workspacemodel);
/* Compute the scale needed to display the cursor of a particular size in screen coordinates. */
scaleFactor = hduScreenToWorkspaceScale(modelview, projection, viewport, workspacemodel);
scaleFactor *= cursor_size_pixel;
}
/*
Function: UpdateHapticMapping
Usage: UpdateHapticMapping();
---------------------------------------------------------------------------
Use the current OpenGL viewing transforms to initialize a transform for the
haptic device workspace so that it's properly mapped to world coordinates.
*/
void UpdateHapticMapping(void)
{
GLdouble modelview[16];
GLdouble projection[16];
GLint viewport[4];
glGetDoublev(GL_MODELVIEW_MATRIX, modelview);
glGetDoublev(GL_PROJECTION_MATRIX, projection);
glGetIntegerv(GL_VIEWPORT, viewport);
hlMatrixMode(HL_TOUCHWORKSPACE);
hlLoadIdentity();
/* fit haptic workspace to the bound of the deformable surface */
hduVector3Dd minPt(-kSurfaceSize / 2.0, -kSurfaceSize / 2.0, -kSurfaceSize / 2.0);
hduVector3Dd maxPt(kSurfaceSize / 2.0, kSurfaceSize / 2.0, kSurfaceSize / 2.0);
hluFitWorkspaceBox(modelview, minPt, maxPt);
/* compute cursor scale */
mCursorScale = hluScreenToModelScale(modelview, projection, viewport);
const int CURSOR_SIZE_PIXELS = 20;
mCursorScale *= CURSOR_SIZE_PIXELS;
}
