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] ) );
}
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;
}
