HapticDevice::HapticDevice()
{
m_updateDeviceCallback = HD_INVALID_HANDLE;
for(int i=0;i<NB_DEVICES_MAX;i++)
{
m_constraints[i] = NULL;
m_itsConstraints[i] = NULL;
m_oldButtons[i] = HD_INVALID_HANDLE;
}
m_nbDevices = 0;
m_coll = false;
cleanHistory();
//m_time = 0;
}
void HapticDevice::feedback(btDynamicsWorld &dynamic)
{
for(unsigned int i=0;i<m_nbDevices;i++)
{
bool ground_collide = false;
// free move
if((m_hss[i].m_free.m_buttons & HD_DEVICE_BUTTON_1) != 0 )// (m_hss[i].m_free.m_buttons & HD_DEVICE_BUTTON_2))
{
m_hss[i].m_free.m_done = true;
//m_hss[i].m_free.m_force = hduVector3Dd(0,0,0);
}
if(m_constraints[i] != NULL)
{
btRigidBody * myBody = &m_constraints[i]->getRigidBodyB();
btTransform myTrans = myBody->getWorldTransform();
m_effRenderPos = myTrans.getOrigin();
//Check collision
if(m_constraints[i]->getUserConstraintPtr() != NULL)
{
//std::cout<< " se cas la " <<std::endl;
m_hss[i].m_free.m_nbCollision = 1;
//if((m_hss[i].m_free.m_buttons & HD_DEVICE_BUTTON_1) != 0 && (m_oldButtons[i] & HD_DEVICE_BUTTON_1) == 0)
btCollisionObject * object = static_cast<btCollisionObject *>(m_constraints[i]->getUserConstraintPtr());
if(object->getInternalType()== btCollisionObject::CO_RIGID_BODY)
{
btRigidBody * collideBody = static_cast<btRigidBody *>(object);
// collide with ground
if(collideBody == m_ground)
{
m_hss[i].m_free.m_nbCollision = 2;
ground_collide = true;
}
// collide with other object
if(collideBody->getInvMass()!=0 && collideBody != m_ground)
{
if(m_itsConstraints[i] == NULL )
{
// catch it if colide with it
if((m_hss[i].m_free.m_buttons & HD_DEVICE_BUTTON_1) == 0 )
{
//create constraint
btTransform bodyTrans = collideBody->getWorldTransform();
m_itsConstraints[i] = createConstraint(*myBody,*collideBody);
dynamic.addConstraint(m_itsConstraints[i],true);
m_newConstraint(m_ptr,collideBody,i);
m_caught = collideBody;
m_coll = true;
m_devine = false;
showTarget(collideBody);
deactivateMove();
}
}else
// realise it when button 1 pressed
if(m_freeT || (m_hss[i].m_free.m_buttons & HD_DEVICE_BUTTON_1) != 0)
{
//remove constraint
dynamic.removeConstraint(m_itsConstraints[i]);
delete m_itsConstraints[i];
m_itsConstraints[i]=NULL;
m_deleteConstraint(m_ptr,collideBody,i);
//m_hss[i].setThrown(NULL);
m_hss[i].m_free.m_done = true;
showTarget(collideBody);
m_variator = 0;
m_coll = false;
deactivateMove();
}
}
}
}
else
{
m_hss[i].m_free.m_nbCollision = 0;
//if((m_hss[i].m_free.m_buttons & HD_DEVICE_BUTTON_1) != 0 && (m_oldButtons[i] & HD_DEVICE_BUTTON_1) == 0)
if(m_freeT || (m_hss[i].m_free.m_buttons & HD_DEVICE_BUTTON_1) != 0)
{
if(m_itsConstraints[i] != NULL )
{
//remove constraint
m_deleteConstraint(m_ptr,&m_itsConstraints[i]->getRigidBodyB(),i);
dynamic.removeConstraint(m_itsConstraints[i]);
delete m_itsConstraints[i];
m_itsConstraints[i]=NULL;
m_hss[i].m_free.m_done = true;
if(m_caught != NULL)
showTarget(m_caught);
m_coll = false;
deactivateMove();
}
}
}
if(m_itsConstraints[i]!=NULL )
m_hss[i].m_free.m_nbCollision = 1;
else
// launch an other target
if((m_hss[i].m_free.m_buttons & HD_DEVICE_BUTTON_2) != 0 && (m_oldButtons[i] & HD_DEVICE_BUTTON_2) == 0)
{
//m_canLaunch = true;
}
m_oldButtons[i]=m_hss[i].m_free.m_buttons;
//put back cursor world position into device referencial <<<<< ------------------------------
btTransform offset(btMatrix3x3::getIdentity(),btVector3(0,0,-0.5));
m_effectors[i].setOrigin(myTrans.getOrigin());
m_effectors[i].mult(m_effectors[i],offset);
btVector3 pos = m_cameraViews[i]->inverse()(myTrans.getOrigin());
pos*=SCALE_WORLD_TO_DEVICE;
m_hss[i].m_free.m_realPosition.set(pos.getX(),pos.getY(),pos.getZ()+OFFSET_TO_CAMERA);
}
btTransform camInv = m_cameraViews[i]->inverse();
// compute feed back for ground
if(ground_collide)
{
m_hss[i].m_free.m_force = groundForce(true,&(m_hss[i].m_free.m_position),&camInv);
}else
m_hss[i].m_free.m_force = hduVector3Dd(0,0,0);
// detecte the direction
HDdouble deplacement = betweenTwoPoints(m_hss[i].m_free.m_atThrowPos,m_hss[i].m_free.m_position);
HDdouble distanceMax = Distance_max;
hduVector3Dd move = m_hss[i].m_free.m_oldPosition - m_hss[i].m_free.m_position;
HDdouble selectedDistance = 0;
if( m_devine && m_thrownRigids != NULL && m_thrownRigids->size()>0 && deplacement > distanceMax && m_sible == 0 /* && !m_targetChoosen */){
HDdouble distance = Quick_Distance_max;
//unsigned int targ = 0;
for(unsigned int j = 0; j<m_thrownRigids->size(); j++){
HDdouble d = distanceToTrajectory(m_hss[i].m_free.m_position,j,&camInv);
if((d)<distance){
if(m_Thrown != (*m_thrownRigids)[j]){
m_hss[i].m_free.m_currentThrown = (*m_thrownRigids)[j];
distance = d;
m_Thrown = (*m_thrownRigids)[j];
m_impactPos = m_possibleImpact[j];
m_targetChoosen = true;
if(m_Feedback){
activateMove();
}
selectedDistance = d;
m_index = j;
m_sible = Nbr_frame_wait;
}
}
}
if(m_targetChoosen){
//showTarget(m_Thrown);
addPrevious(m_Thrown);
}
else
m_sible = 0;
//m_time = Time;
}
if(m_canLaunch){
//m_time = Time;
m_hss[i].m_free.m_done = true;
m_variator = 0.001;
m_sible = 0;
m_devine = true;
deactivateMove();
cleanHistory();
m_hss[i].m_free.m_atThrowPos = m_hss[i].m_free.m_position;
}
m_hss[i].m_free.m_oldPosition = m_hss[i].m_free.m_position ;
if(m_hss[i].m_free.m_currentThrown != NULL && m_posSet && m_Feedback ){
hduVector3Dd impact = invertTransform(m_impactPos, &camInv);
hduVector3Dd pos(m_hss[i].m_free.m_position);
btVector3 balltest = ((*m_thrownRigids)[0])->getWorldTransform().getOrigin();
hduVector3Dd test = invertTransform(&balltest, &camInv);
m_velocity = m_hss[i].m_free.m_velocity.magnitude();
if(pos[2]-5 >= test[2]){
if(!m_hss[i].m_free.m_done){
//hduVector3Dd helpForce = ForceToImpact(&pos,&impact);
hduVector3Dd helpForce = magneticForce(&pos, &impact, &camInv);
//hduVector3Dd helpForce = atomeForce(&pos, &impact, &camInv);
if(!helpForce.isZero(EPSILON)){
hduVector3Dd force = 1.0 * helpForce;
m_hss[i].m_free.m_force = force;
m_Force = force;
}else
{
//m_hss[i].m_free.m_force = m_Force;
}
}
}
}
hdScheduleSynchronous(sScheduleIn, &m_hss, HD_DEFAULT_SCHEDULER_PRIORITY);
m_selectedDistance = selectedDistance;
if(m_sible > 0)
m_sible--;
}
}
// a slot to get a command to clean the history
void ProcessingThread::deckShuffled(){
cleanHistory(&GameState);
return;
}
