//=========================================================================== int cPhantomDevice::setForce(cVector3d& a_force) { // check if drivers are installed if (!m_driverInstalled) return (-1); int error = hdPhantomSetForce(m_deviceID, &a_force.x, &a_force.y, &a_force.z); m_prevForce = a_force; return (error); }
FB::variant hapticAPI::sendForce(std::string str) { double force[3]; stringToArray(str,force); force[1] = -force[1]; if (hdPhantomSetForce(deviceID, /*Z*/&force[2], /*X*/&force[0], /*Y*/ &force[1])!=-1) return true; else return false; }
//=========================================================================== int cPhantomDevice::setForce(const cVector3d& a_force) { // check if drivers are installed if (!m_driverInstalled) return (-1); // send force command cVector3d force = a_force; int error = hdPhantomSetForce(m_deviceID, &force(0) , &force(1) , &force(2) ); if (error != 0) { return (error); } // store new commanded values m_prevForce = a_force; // success return (0); }