void HLCALLBACK buttonCB(HLenum event, HLuint object, HLenum thread,
HLcache *cache, void *userdata)
{
if (event == HL_EVENT_1BUTTONDOWN)
{
HLuint spring = *((HLuint *) userdata);
HDdouble anchor[3];
hlCacheGetDoublev(cache, HL_PROXY_POSITION, anchor);
hlEffectd(HL_EFFECT_PROPERTY_GAIN, 0.8);
hlEffectd(HL_EFFECT_PROPERTY_MAGNITUDE, 1.0);
hlEffectdv(HL_EFFECT_PROPERTY_POSITION, anchor);
hlStartEffect(HL_EFFECT_SPRING, spring);
}
else if (event == HL_EVENT_1BUTTONUP)
{
HLuint spring = *((HLuint *) userdata);
hlStopEffect(spring);
}
else if (event == HL_EVENT_2BUTTONDOWN)
{
static const HDdouble direction[3] = { 0, 0, 1 };
static const HDdouble duration = 100; /* ms */
/* Trigger an impulse by commanding a force with a
direction and magnitude for a small duration. */
hlEffectd(HL_EFFECT_PROPERTY_DURATION, duration);
hlEffectd(HL_EFFECT_PROPERTY_MAGNITUDE, 0.8);
hlEffectdv(HL_EFFECT_PROPERTY_DIRECTION, direction);
hlTriggerEffect(HL_EFFECT_CONSTANT);
}
}
/*
Function: OnDragSurface
---------------------------------------------------------------------------
Event callback function called when moving device while touching surface.
*/
void HLCALLBACK OnDragSurface(HLenum event, HLuint object,
HLenum thread, HLcache *cache,
void *userdata)
{
hduVector3Dd proxyPos;
hlCacheGetDoublev(cache, HL_PROXY_POSITION, proxyPos);
hduVector3Dd contactNormal;
hlCacheGetDoublev(cache, HL_PROXY_TOUCH_NORMAL, contactNormal);
hduVector3Dd reactionForce;
hlCacheGetDoublev(cache, HL_DEVICE_FORCE, reactionForce);
const double deviceToParticleForce = 5.0;
hduVector3Dd particleForce =
-deviceToParticleForce * contactNormal * reactionForce.magnitude();
mPS.HapticDeviceMove(proxyPos, particleForce);
}
void HLCALLBACK touchShapeCallback(HLenum event, HLuint object, HLenum thread,
HLcache *cache, void *userdata)
{
hduVector3Dd proxy;
std::cout << "Touched ObjectID: " << object << " at point ";
hlCacheGetDoublev(cache, HL_PROXY_POSITION, proxy);
std::cout << proxy << " ";
HLboolean buttDown;
hlCacheGetBooleanv(cache, HL_BUTTON1_STATE, &buttDown);
std::cout << "button 1 " << (buttDown ? "down" : "up") << std::endl;
}
/***************************************************************************************
Servo loop thread callback. Computes a force effect. This callback defines the motion
of the purple skull and calculates the force based on the "real-time" Proxy position
in Device space.
****************************************************************************************/
void HLCALLBACK computeForceCB(HDdouble force[3], HLcache *cache, void *userdata)
{
DataTransportClass *localdataObject = (DataTransportClass *) userdata;//Typecast the pointer passed in appropriately
hduVector3Dd skullPositionDS;//Position of the skull (Moving sphere) in Device Space.
hduVector3Dd proxyPosition;//Position of the proxy in device space
HDdouble instRate = 0.0;
HDdouble deltaT = 0.0;
static float counter = 0.0;
float degInRad = 0.0;
static int counter1 = 0;
// Get the time delta since the last update.
hdGetDoublev(HD_INSTANTANEOUS_UPDATE_RATE, &instRate);
deltaT = 1.0 / instRate;
counter+=deltaT;
degInRad = counter*20*3.14159/180;
hduVector3Dd ModelPos = localdataObject->Model->getTranslation();
localdataObject->Model->setTranslation(-ModelPos);
localdataObject->Model->setTranslation(cos(degInRad)*64.0, sin(degInRad)*64.0,5.0);//Move the skull aroubnd in a circle
WorldToDevice.multVecMatrix(localdataObject->Model->getTranslation(),skullPositionDS);//Convert the position of the sphere from world space to device space
hlCacheGetDoublev(cache, HL_PROXY_POSITION, proxyPosition);//Get the position of the proxy in Device Coordinates (All HL commands in the servo loop callback fetch values in device coordinates)
forceVec = forceField(proxyPosition, skullPositionDS, 40.0, 5.0);//Calculate the force
counter1++;
if(counter1>2000)//Make the force start after 2 seconds of program start. This is because the servo loop thread executes before the graphics thread.
//Hence global variables set in the graphics thread will not be valid for sometime in the begining og the program
{
force[0] = forceVec[0];
force[1] = forceVec[1];
force[2] = forceVec[2];
counter1 = 2001;
}
else
{
force[0] = 0.0;
force[1] = 0.0;
force[2] = 0.0;
}
}
/*******************************************************************************
Creates a spring upon button press.
*******************************************************************************/
void HLCALLBACK buttonCB(HLenum event, HLuint object, HLenum thread,
HLcache *cache, void *userdata)
{
if (event == HL_EVENT_1BUTTONDOWN)
{
HLuint spring = *((HLuint *) userdata);
HDdouble anchor[3];
hlCacheGetDoublev(cache, HL_PROXY_POSITION, anchor);
hlEffectd(HL_EFFECT_PROPERTY_GAIN, 0.8);
hlEffectd(HL_EFFECT_PROPERTY_MAGNITUDE, 1.0);
hlEffectdv(HL_EFFECT_PROPERTY_POSITION, anchor);
hlStartEffect(HL_EFFECT_SPRING, spring);
}
else if (event == HL_EVENT_1BUTTONUP)
{
HLuint spring = *((HLuint *) userdata);
hlStopEffect(spring);
}
}