コード例 #1
0
//////////////////////////////////////////////////////////////////////////////
//  transformFrustum -
//     Transform srcFrustum by mat, result in dstFrustum.
//
//////////////////////////////////////////////////////////////////////////////
void transformFrustum(
    const hduMatrix& mat,
    const hduVector3Dd* srcFrustum,
    hduVector3Dd* dstFrustum
    )
{
    for (int i = 0; i < 8; ++i)
    {
        hduVector3Dd dst;
        mat.multVecMatrix(srcFrustum[i], dst);

        dstFrustum[i][0] = dst[0];
        dstFrustum[i][1] = dst[1];
        dstFrustum[i][2] = dst[2];
    }
}
コード例 #2
0
ファイル: main.cpp プロジェクト: danepowell/openhaptics
/***************************************************************************************
 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;
    }
}