hduVector3Dd HapticDevice::ForceToImpact(hduVector3Dd* effector,hduVector3Dd* impactpos){
// use Yamada and al force model
hduVector3Dd inbetween = *impactpos - *effector ;
hduVector3Dd force = hduVector3Dd(0,0.1,0.0);
HDdouble phi = 2.0;
HDdouble sigma = 20;//0.091;
HDdouble div = 1.0;
HDdouble s2 = pow(sigma, 2);
HDdouble x = inbetween.magnitude();
HDdouble f = phi * ( pow(x,2)/ s2 ) * std::exp((s2 - pow(x,2))/s2);
//HDdouble f = phi * ( pow(x,2)/ s2 ) * std::exp((s2 - pow(x,2))/s2);
//HDdouble f = phi * ( pow(x,2)/ s2 ) * std::exp((s2 - pow(x,2))/s2);
inbetween.normalize();
force += f * inbetween;
return force ;
}
hduVector3Dd HapticDevice::trajectoryLine(hduVector3Dd p1,hduVector3Dd p2){
HDdouble a = (p2[1] - p1[1])/(p2[0] - p1[0]);
HDdouble b = p1[1] - a * p1[0];
//std::cout<<" a"<<a<<" b"<<b<<std::endl;
return hduVector3Dd(a,b,0);
}
void ParticleSystem::ClearForces(void)
{
for (unsigned int i = 0; i < particles.size(); i++)
{
particles[i]->f = hduVector3Dd(0,0,0);
}
}
hduVector3Dd HapticDevice::atomeForce(hduVector3Dd* effector,hduVector3Dd* currentTarget, btTransform* invertCamera){
hduVector3Dd force = hduVector3Dd(0,0.1,0.0);
hduVector3Dd direct = hduVector3Dd(0,0.0,0.0);
HDdouble someNorme = 0.1;
for(unsigned int i = 0; i< m_possibleImpact.size(); i++){
hduVector3Dd impact = invertTransform(m_possibleImpact[i], invertCamera);
hduVector3Dd inbetween = impact - *effector ;
HDdouble x = inbetween.magnitude();
if(x <= Quick_Distance_max)
someNorme += pow(x,2);
}
for(unsigned int i = 0; i< m_possibleImpact.size(); i++){
hduVector3Dd impact = invertTransform(m_possibleImpact[i], invertCamera);
hduVector3Dd inbetween = impact - *effector ;
HDdouble x = inbetween.magnitude();
if(x <= Quick_Distance_max)
direct += (pow(x,2) / someNorme) * impact;
}
direct -= *effector;
HDdouble va = direct.magnitude();
force += 0.3 * pow((lamda(Quick_Distance_max,va) / Quick_Distance_max),2) *
pow((lamda(max_velocity,m_velocity)/max_velocity),2) * direct;
//std::cout << m_velocity << std::endl;
return force;
}
hduVector3Dd HapticDevice::invertTransform(btVector3* trans,btTransform* invertCamera){
btTransform camInv =btTransform(*invertCamera);
btVector3 pos(*trans);
pos =camInv(pos);
pos*=SCALE_WORLD_TO_DEVICE;
return hduVector3Dd(pos.getX(), pos.getY(), pos.getZ()+OFFSET_TO_CAMERA) ;
}
/*******************************************************************************
hduMapWorkspace
Determines a mapping for the haptic device's workspace so that it optimally
fits within the viewing volume provided.
Parameters:
projMatrix A pointer to a 4x4 projection matrix stored in column-major order.
wsBounds A pointer to a 6 element vector describing the bounding box of the
workspace to be fit. xMin, yMin, zMin, xMax, yMax, zMax
wsMatrix A pointer to a 4x4 matrix used for storing the resultant
column-major order workspace transform.
The workspace transform will transform coordinates from the haptic device
coordinates space into eye coordinates of the viewing volume
*******************************************************************************/
void hduMapWorkspace(const HDdouble *projMatrix,
const HDdouble *wsBounds,
HDdouble zNear, HDdouble zFar,
HDdouble *wsMatrix)
{
hduMatrix eyeTclip(projMatrix);
hduMatrix clipTeye = eyeTclip;
bool bNoError = clipTeye.invert();
assert(bNoError);
/* Make sure the zNear and zFar values are valid and then convert to clip
coordinates. */
zNear = hduClamp(zNear, 0.0, 1.0);
HDdouble zClipNear = hduLerp<HDdouble>(-1, 1, zNear);
zFar = hduClamp(zFar, 0.0, 1.0);
HDdouble zClipFar = hduLerp<HDdouble>(-1, 1, zFar);
HDdouble scale = computeWorkspaceToViewVolumeScale(
projMatrix, wsBounds, zNear, zFar);
hduVector3Dd wsCenter;
wsCenter[0] = (wsBounds[0] + wsBounds[3]) / 2.0;
wsCenter[1] = (wsBounds[1] + wsBounds[4]) / 2.0;
wsCenter[2] = (wsBounds[2] + wsBounds[5]) / 2.0;
hduMatrix scaleWorkspace = hduMatrix::createScale(scale, scale, scale);
hduMatrix toWorkspaceCenter = hduMatrix::createTranslation(-1.0 * wsCenter);
hduMatrix fromWorkspaceCenter = hduMatrix::createTranslation(wsCenter);
scaleWorkspace.multLeft(toWorkspaceCenter);
scaleWorkspace.multRight(fromWorkspaceCenter);
/* Matchup the center of the front of the workspace with the center of the
near plane. */
hduVector3Dd wsCenterFront(wsCenter[0], wsCenter[1], wsBounds[5]);
hduVector3Dd wsCenterFrontScaled;
scaleWorkspace.multVecMatrix(wsCenterFront, wsCenterFrontScaled);
hduVector3Dd vvCenterNearPlane;
clipTeye.multVecMatrix(hduVector3Dd(0, 0, zClipNear), vvCenterNearPlane);
/* Translate workspace so that the center of its front plane matches the
near plane of the view volume. */
hduMatrix translateWorkspace = hduMatrix::createTranslation(
vvCenterNearPlane - wsCenterFrontScaled);
/* Finally, multiply the scale and translation to arrive at a transform
from workspace coordinates to eye coordinates. */
hduMatrix workspaceTeye = scaleWorkspace;
workspaceTeye.multRight(translateWorkspace);
/* Copy the result into the destination workspace transform matrix. */
memcpy(wsMatrix, workspaceTeye, 16 * sizeof(HDdouble));
}
/******************************************************************************
hduScreenToWorkspaceScale
Computes the uniform scale factor that will map screen coordinate scale
into workspace coordinates. This can be used for determining a visual scale
for an entity that lives in workspace coordinates, like the 3D cursor.
*****************************************************************************/
HDdouble hduScreenToWorkspaceScale(const HDdouble *modelMatrix,
const HDdouble *projMatrix,
const HDint *viewport,
const HDdouble *wsViewMatrix)
{
hduVector3Dd p0, p1;
hduMatrix worldTeye(modelMatrix);
hduMatrix eyeTclip(projMatrix);
hduMatrix worldTclip = worldTeye;
worldTclip.multRight(eyeTclip);
hduMatrix clipTworld = worldTclip;
bool bNoError = clipTworld.invert();
assert(bNoError);
static const hduVector3Dd leftBottomNearClip(-1, -1, -1);
static const hduVector3Dd rightTopNearClip(1, 1, -1);
/* First compute the uniform scale factor between screen coordinates and
world coordinates. */
clipTworld.multVecMatrix(leftBottomNearClip, p0);
clipTworld.multVecMatrix(rightTopNearClip, p1);
HDdouble screenDiagonal = sqrt(double(viewport[2] * viewport[2] +
viewport[3] * viewport[3]));
HDdouble screenTworldScale = (p0 - p1).magnitude() / screenDiagonal;
/* Now determine the scale factor from world to workspace coordinates. */
hduMatrix workspaceTworld(wsViewMatrix);
workspaceTworld.multVecMatrix(hduVector3Dd(0, 0, 0), p0);
workspaceTworld.multVecMatrix(hduVector3Dd(1, 1, 1), p1);
HDdouble workspaceTworldScale = (p0 - p1).magnitude() / sqrt(3.0);
HDdouble screenTworkspaceScale = screenTworldScale / workspaceTworldScale;
return screenTworkspaceScale;
}
hduQuaternion hduQuaternion::inverse() const
{
double n = norm();
if (n == 0)
{
return hduQuaternion(0, hduVector3Dd(0,0,0));
}
else
{
return 1/n * conjugate();
}
}
hduVector3Dd HapticDevice::groundForce(bool collide, hduVector3Dd *effector,btTransform* invertCamera){
hduVector3Dd force = hduVector3Dd(0,2.0,0);
if(collide){
btVector3 p = m_ground->getWorldTransform().getOrigin();
hduVector3Dd ground_pos = invertTransform(&p,invertCamera);
force[1] += (ground_pos[1] - (*effector)[1]) ;
force *= 0.10;
}
return force;
}
void hduQuaternion::toAxisAngle(hduVector3Dd &axis, double &angle) const
{
double lenSquared = m_v.dotProduct(m_v);
if (lenSquared > 0.0)
{
assert(m_s >= -1.0 && m_s <= 1.0);
angle = 2.0*acos(hduClamp<double>(m_s, -1.0, 1.0));
double invlen = 1.0 / sqrt(lenSquared);
axis = invlen * m_v;
}
else
{
// If angle is 0 so axis doesn't matter, pick any
angle = 0;
axis = hduVector3Dd(1.0, 0.0, 0.0);
}
}
void CHapticViewerView::getViewVolumeInModelCoord(
hduVector3Dd* frustum)
{
GLdouble projection[16];
GLdouble modelview[16];
glGetDoublev(GL_PROJECTION_MATRIX, projection);
glGetDoublev(GL_MODELVIEW_MATRIX, modelview);
bool bNoError = false;
hduMatrix modelTeye(modelview);
hduMatrix eyeTmodel = modelTeye;
bNoError = eyeTmodel.invert();
assert(bNoError);
hduMatrix eyeTclip(projection);
hduMatrix clipTeye = eyeTclip;
bNoError = clipTeye.invert();
assert(bNoError);
hduMatrix clipTmodel = clipTeye.multRight(eyeTmodel);
// Compute the edges of the view frustum by transforming canonical
// coordinates for the corners into eye space.
hduVector3Dd localFrustum[8];
localFrustum[LEFTBOTTOMNEAR] = hduVector3Dd(-1, -1, -1);
localFrustum[LEFTBOTTOMFAR] = hduVector3Dd(-1, -1, 1);
localFrustum[RIGHTBOTTOMNEAR] = hduVector3Dd( 1, -1, -1);
localFrustum[RIGHTBOTTOMFAR] = hduVector3Dd( 1, -1, 1);
localFrustum[RIGHTTOPNEAR] = hduVector3Dd( 1, 1, -1);
localFrustum[RIGHTTOPFAR] = hduVector3Dd( 1, 1, 1);
localFrustum[LEFTTOPNEAR] = hduVector3Dd(-1, 1, -1);
localFrustum[LEFTTOPFAR] = hduVector3Dd(-1, 1, 1);
transformFrustum(clipTmodel, localFrustum, frustum);
}
void ParticleSystem::FinishConstructingSystem(void)
{
// make sure we have a mouse spring
if (mouseSpring == NULL)
AddMouseSpringConstraint();
// make sure we have a haptic device constraint
if (hapticDeviceConstraint == NULL)
AddHapticDeviceConstraint();
x0.resize(particles.size() * kStateSize);
xFinal.resize(particles.size() * kStateSize);
// clear any velocities
for (unsigned int i = 0; i < particles.size(); i++)
{
particles[i]->v = hduVector3Dd(0,0,0);
}
ParticlesStateToArray(&xFinal[0]);
odeSolver->setSize(particles.size() * kStateSize);
typedef ConstraintListT::const_iterator LI; // constant because not modifying list
LI ci;
for (ci = constraints.begin(); ci != constraints.end(); ++ci)
{
Constraint& c = **ci;
assert(&c != NULL);
c.FlexToSystem(particles);
}
design = false;
}
hduVector3Dd HapticDevice::magneticForce(hduVector3Dd* effector,hduVector3Dd* currentTarget,btTransform* invertCamera){
hduVector3Dd force = hduVector3Dd(0,0.1,0.0);
HDdouble phi = 0.58;
HDdouble sigma = 10;
HDdouble s2 = pow(sigma, 2);
HDdouble fmax = 0.0;
HDdouble seuil = 0.5;
hduVector3Dd target = *currentTarget - *effector ;
HDdouble distanceMin = target.magnitude();
/*
for(unsigned int i = 0; i< m_possibleImpact.size(); i++){
hduVector3Dd impact = invertTransform(m_possibleImpact[i], invertCamera);
hduVector3Dd inbetween = impact - *effector ;
HDdouble x = inbetween.magnitude();
HDdouble f = phi * ( pow(x,2)/ s2 ) * std::exp((s2 - pow(x,2))/s2);
inbetween.normalize();
HDdouble d = 1;// 1 si c'est la sible, < 1 sinon
if(x >= 0.1)
d = distanceMin / x;
force += d * f * inbetween;
}
*/
for(int traj = 0; traj < ThronNumber ; traj++){
for(unsigned int i = 0; i< m_trajectory[traj].size(); i++){
if( i % 6 == 0){
hduVector3Dd impact = invertTransform((m_trajectory[traj])[i], invertCamera);
hduVector3Dd inbetween = impact - *effector ;
HDdouble x = inbetween.magnitude();
//if(inbetween[1] < 3 && inbetween[1] > -3){
HDdouble f = phi * ( pow(x,2)/ s2 ) * std::exp((s2 - pow(x,2))/s2);
inbetween.normalize();
HDdouble d = 1;// 1 si c'est la sible, < 1 sinon
if(x >= 0.1)
d = distanceMin / x;
force += f * inbetween;
//}
}
}
}
//std::cout << " --> "<< std::endl;
force *= (lamda(max_velocity,m_velocity)/max_velocity);
return force;
}
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--;
}
}
int WINAPI WinMain( HINSTANCE hInstance, // Instance
HINSTANCE hPrevInstance, // Previous Instance
LPSTR lpCmdLine, // Command Line Parameters
int nCmdShow) // Window Show State
{
QHWin32* DisplayObject = new QHWin32;//create a display window
DeviceSpace* deviceSpace = new DeviceSpace; //Find a Phantom device named "Default PHANToM"
DisplayObject->tell(deviceSpace); //tell Quickhaptics that Omni exists
DisplayObject->setBackgroundColor(0.0,0.0,0.6);
DisplayObject->setHapticWorkspace(hduVector3Dd(-40,-40.0,-17.0), hduVector3Dd(95,45.0,17.0));
// Load gums model
TriMesh* tm = new TriMesh("models/TeethCavityPickModels/dentures-gums.obj");
gDentureGum = tm;
tm->setName("dentureGum");
tm->setShapeColor(1.0,0.5,0.65);
tm->setRotation(hduVector3Dd(1.0,0.0,0.0), 45.0);
tm->setStiffness(0.5);
tm->setDamping(0.6);
tm->setFriction(0.3,0.0);
DisplayObject->tell( tm );//Tell quickhaptics that gums exists
// Load teeth model
tm = new TriMesh("models/TeethCavityPickModels/dentures-teeth.obj");
gDentureTeeth = tm;
tm->setName("dentureTeeth");
tm->setRotation(hduVector3Dd(1.0,0.0,0.0), 45.0);
tm->setStiffness(1.0);
tm->setDamping(0.0);
tm->setFriction(0.0,0.2);
DisplayObject->tell(tm);
// Load cavity model
tm = new TriMesh("models/TeethCavityPickModels/dentures-cavity fill.obj");
gDentureCavityFill = tm;
tm->setName("dentureCavityFill");
tm->setRotation(hduVector3Dd(1.0,0.0,0.0), 45.0);
tm->setPopthrough(0.5);
tm->setStiffness(0.6);
tm->setDamping(0.3);
tm->setFriction(0.5,0.4);
DisplayObject->tell(tm);
// Load cavity "target"
tm = new TriMesh("models/TeethCavityPickModels/dentures-marker.obj");
gDentureCavity = tm;
tm->setName("dentureCavity");
tm->setUnDraggable();
tm->setRotation(hduVector3Dd(1.0,0.0,0.0), 45.0);
tm->setStiffness(0.2);
tm->setDamping(0.4);
tm->setFriction(0.0,0.0);
DisplayObject->tell(tm);
// SensAble logo
Plane* logoBox = new Plane(15,9);
logoBox->setTranslation(53.0,-27.0,30.0);
logoBox->setHapticVisibility(false);
logoBox->setTexture("models/TeethCavityPickModels/sensableLogo.jpg");
DisplayObject->tell(logoBox);
// START button
Box* box = gStartButton = new Box(20,10,10);
gStartButton = box;
box->setName("startButton");
box->setUnDraggable();
box->setTranslation(60.0,20.0,0.0);
box->setRotation(hduVector3Dd(0.0,1.0,0.0), -15.0);
box->setTexture("models/TeethCavityPickModels/start.jpg");
DisplayObject->tell(box);
// RESET button
box = new Box(20,10,10);
gResetButton = box;
box->setName("resetButton");
box->setUnDraggable();
box->setTranslation(60.0,-5.0,0.0);
box->setRotation(hduVector3Dd(0.0,1.0,0.0), -15.0);
box->setTexture("models/TeethCavityPickModels/reset.jpg");
DisplayObject->tell(box);
// Startup Message
Text* text = new Text (20.0,"Please touch START & press button 1 to begin", 0.25, 0.9);
gStartupMsg = text;
text->setName("startupMsg");
text->setShapeColor(0.0,0.5,0.75);
text->setHapticVisibility(false);
text->setGraphicVisibility(true);
DisplayObject->tell(text);
// Reset Message
text = new Text (20.0,"Please touch RESET and press button 1 to Reset the demo", 0.2, 0.85);
gResetMsg = text;
text->setName("resetMsg");
text->setShapeColor(0.0,0.5,0.75);
text->setHapticVisibility(false);
text->setGraphicVisibility(false);
DisplayObject->tell(text);
// Instruction Message
text = new Text (20.0,"Please locate the cavity by probing the teeth", 0.25, 0.9);
gInstructionMsg = text;
text->setName("instructionMsg");
text->setShapeColor(0.0,0.5,0.75);
text->setHapticVisibility(false);
text->setGraphicVisibility(false);
DisplayObject->tell(text);
// Success Message
text = new Text (20.0,"OUCH!!&*! You have successfully located the cavity", 0.25, 0.9);
gSuccessMsg = text;
text->setName("successMsg");
text->setShapeColor(1.0,0.35,0.5);
text->setHapticVisibility(false);
text->setGraphicVisibility(false);
DisplayObject->tell(text);
Cursor* OmniCursor = new Cursor("models/TeethCavityPickModels/dentalPick.obj");//Load a cursor that looks like a dental pick
TriMesh* cursorModel = OmniCursor->getTriMeshPointer();
cursorModel->setShapeColor(0.35,0.35,0.35);
OmniCursor->scaleCursor(0.007);
OmniCursor->setRelativeShapeOrientation(0.0,0.0,1.0,-90.0);
// OmniCursor->debugCursor(); //Use this function the view the location of the proxy inside the Cursor mesh
DisplayObject->tell(OmniCursor);//Tell QuickHaptics that the cursor exists
DisplayObject->preDrawCallback(graphicsCallback);
deviceSpace->button1DownCallback(button1DownCallback, gResetButton);
deviceSpace->button1DownCallback(button1DownCallback, gDentureGum);
deviceSpace->button1DownCallback(button1DownCallback, gDentureTeeth);
deviceSpace->button1DownCallback(button1DownCallback, gDentureCavityFill);
deviceSpace->button1DownCallback(button1DownCallback, gStartButton);
deviceSpace->touchCallback(touchCallback, gDentureCavity);
deviceSpace->button1UpCallback(button1UpCallback);
qhStart();//Set everything in motion
}
void ParticleSystem::ActivateHapticDeviceConstraint(void)
{
assert(hapticDeviceConstraint != NULL);
hapticDeviceConstraint->SetForce(hduVector3Dd(0,0,0));
hapticDeviceConstraint->SetState(true);
}