HAPIForceEffect::EffectOutput
OpenHapticsRenderer::renderHapticsOneStep(
HAPIHapticsDevice *hd,
const HapticShapeVector &shapes ) {
PhantomHapticsDevice *pd = dynamic_cast< PhantomHapticsDevice * >( hd );
if( !pd ) {
AnyHapticsDevice *d = dynamic_cast< AnyHapticsDevice *>( hd );
if( d ) {
pd = dynamic_cast< PhantomHapticsDevice * >( d->getActualHapticsDevice() );
}
if( !pd ) return HAPIForceEffect::EffectOutput();
}
hdMakeCurrentDevice( pd->getDeviceHandle() );
// add the resulting force and torque to the rendered force.
HDdouble force[3];
hdGetDoublev( HD_CURRENT_FORCE, force );
HDdouble torque[3];
hdGetDoublev( HD_CURRENT_TORQUE, torque );
// add the resulting force and torque to the rendered force.
// The force and torque from the haptics device is in local coordinates.
// We want it in global coordinates.
Matrix3 pos_matrix_rotation = hd->getPositionCalibration().getRotationPart();
return HAPIForceEffect::EffectOutput(
pos_matrix_rotation * Vec3( force[0], force[1], force[2] ),
pos_matrix_rotation * Vec3( torque[0], torque[1], torque[2] ) );
}
int main(int argc, char* argv[])
{
HAPIFloat x=0, y=0, z=0;
AnyHapticsDevice hd;
//initialize. return error and exit if there is a failure
if (hd.initDevice() !=HAPIHapticsDevice::SUCCESS)
{
cerr <<hd.getLastErrorMsg() <<endl;
system("PAUSE");
return 0;
}
hd.enableDevice(); //enable
string thePosition;
string theSpringConst;
bool continue_trying = true;
while(continue_trying)
{
cout<<"Enter position 0<n<10 for x, y, z (separate by spaces)"<<endl;
getline(cin, thePosition);
char *pEnd;
x = strtod(thePosition.c_str(), &pEnd);
y = strtod(pEnd, &pEnd);
z = strtod(pEnd, NULL);
x = x/200;
y = y/200;
z = z/200;
cout<<"Enter spring constant:"<<endl;
cout<<"100 is relatively weak, 1000 is strong"<<endl;
getline(cin, theSpringConst);
HAPIFloat spring_constant = strtod(theSpringConst.c_str(), NULL);
//stringstream stm_x, stm_y, stm_z, stm_const;
//stm_x << x;
//stm_y << y;
//stm_z << z;
//stm_const << spring_constant;
//add spring to haptics
HapticSpring *spring = new HapticSpring(Vec3(x,y,z), spring_constant);
hd.addEffect(spring);
hd.transferObjects();
cout<<"Press enter to change position and spring constant"<<endl;
getline(cin, thePosition);
hd.removeEffect(spring);
hd.transferObjects();
}
hd.disableDevice();
hd.releaseDevice();
}
HHLRC OpenHapticsRenderer::initHLLayer( HAPIHapticsDevice *hd ) {
PhantomHapticsDevice *pd = dynamic_cast< PhantomHapticsDevice * >( hd );
if( !pd ) {
AnyHapticsDevice *d = dynamic_cast< AnyHapticsDevice *>( hd );
if( d ) {
pd = dynamic_cast< PhantomHapticsDevice * >( d->getActualHapticsDevice() );
}
if( !pd ) return NULL;
}
if( pd->getDeviceState() != HAPIHapticsDevice::UNINITIALIZED ) {
if( context_map.find( pd ) == context_map.end() ) {
// Create a haptic context for the device. The haptic context maintains
// the state that persists between frame intervals and is used for
// haptic rendering.
HHD jj = pd->getDeviceHandle();
// The check of no_context and scheduler started is used to get
// around a problem with openhaptics if the scheduler is started
// before a hlcontext is created. Has to be made this way (only once)
// in order to not get strange behaviour when using dual device setup.
bool restart = false;
if( PhantomHapticsDevice::isSchedulerStarted() && nr_of_context == 0 ) {
PhantomHapticsDevice::stopScheduler();
restart = true;
}
context_map[ pd ] = hlCreateContext( jj );
if( restart ) {
PhantomHapticsDevice::startScheduler();
}
++nr_of_context;
if( !dummy_context ) {
dummy_context = hlCreateContext( jj );
++nr_of_context;
}
hlMakeCurrent( context_map[ pd ] );
hlEnable(HL_HAPTIC_CAMERA_VIEW);
hlEnable(HL_ADAPTIVE_VIEWPORT );
return context_map[ pd ];
}
}
return NULL;
}
int main(int argc, char* argv[]) {
// Get a connected device.
AnyHapticsDevice hd;
// Init the device.
if( hd.initDevice() != HAPIHapticsDevice::SUCCESS ) {
cerr << hd.getLastErrorMsg() << endl;
return 0;
}
// Enable the device
hd.enableDevice();
// used to loop the program until user wants to exit.
bool continue_trying = true;
while( continue_trying ) {
// Get info from user.
cout << "Enter a position as x y z (in m) then press ENTER" << endl;
string thePosition;
getline( cin, thePosition );
char * pEnd;
HAPIFloat x, y, z;
x = strtod( thePosition.c_str(), &pEnd );
y = strtod( pEnd, &pEnd );
z = strtod( pEnd, NULL );
cout << "Enter the value for a spring constant then press ENTER." << endl;
cout << "A good value is 100 since HAPI uses m." << endl;
cout << "Keep a firm grip of the device before pressing ENTER." << endl;
getline( cin, thePosition );
HAPIFloat spring_constant = strtod( thePosition.c_str(), NULL );
cout << "The haptic device will be pulled towards position ";
cout << x << " ";
cout << y << " " << z << endl;
cout << "The spring constant used is: " << spring_constant << endl;
cout << "Any faulty input number will be replaced by 0" << endl << endl;
// The spring effect with a position and spring_constant input by the user.
HapticSpring *spring_effect = new HapticSpring( Vec3( x, y, z ),
spring_constant );
// Add the effect to the haptics device.
hd.addEffect( spring_effect );
// Send the effect to the haptics loop and from now on it will be used to
// send forces to the device.
hd.transferObjects();
cout << "Type q and then ENTER to exit, any other input and then ";
cout << "ENTER will allow you to a new point and a new springconstant"
<< endl;
getline( cin, thePosition );
if( thePosition == "q" ) {
continue_trying = false;
}
// Remove the effect from the haptics device.
hd.removeEffect( spring_effect );
// Transfer changes to the haptic loop. Now the haptic effect will stop
// affecting the haptics device since it is removed from the haptics loop.
hd.transferObjects();
}
// Disable device.
hd.disableDevice();
// Release device.
hd.releaseDevice();
}
