int CybPhantom::initHL()
{
//TODO HABILITAR O OUTPUT FORCE NA HD.
HDErrorInfo error;
hapticDevice = hdInitDevice(HD_DEFAULT_DEVICE);
if(HD_DEVICE_ERROR(error = hdGetError()))
{
//Falta tratar o erro!
hduPrintError(stderr, &error, "Failed to initialize haptic device");
return -1;
}
checkCalibrationStatus(&stateCalibration);
hapticContext = hlCreateContext(hapticDevice);
hlMakeCurrent(hapticContext);
hlTouchableFace(HL_FRONT_AND_BACK);
hlEnable(HL_HAPTIC_CAMERA_VIEW);
//hlEnable(HL_ADAPTIVE_VIEWPORT);
//hdEnable(HD_FORCE_OUTPUT);
return 0;
}
int CHapticViewerView::drawSceneHL(Mesh* pObj)
{
int triDrawCount = 0;
hlBeginFrame();
hlCheckEvents();
HLboolean buttDown;
hlGetBooleanv(HL_BUTTON1_STATE, &buttDown);
if (buttDown && pObj->isDragging)
{
updateDragObjectTransform(pObj);
}
if (m_bHapticCameraView)
hlEnable(HL_HAPTIC_CAMERA_VIEW);
else
hlDisable(HL_HAPTIC_CAMERA_VIEW);
if (m_bHapticAdaptiveViewport)
hlEnable(HL_ADAPTIVE_VIEWPORT);
else
hlDisable(HL_ADAPTIVE_VIEWPORT);
if (m_bShapeDepthBuffer)
hlBeginShape(HL_SHAPE_DEPTH_BUFFER, pObj->shapeId);
else
hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, pObj->shapeId);
const bool isHapticView = true;
triDrawCount = drawSceneGL(pObj, isHapticView);
hlEndShape();
hlEndFrame();
return triDrawCount;
}
/*******************************************************************************
Initialize the HDAPI. This involves initing a device configuration, enabling
forces, and scheduling a haptic thread callback for servicing the device.
*******************************************************************************/
void initHL()
{
HDErrorInfo error;
ghHD = hdInitDevice( HD_DEFAULT_DEVICE );
if (HD_DEVICE_ERROR(error = hdGetError()))
{
hduPrintError(stderr, &error, "Failed to initialize haptic device");
fprintf(stderr, "Press any key to exit");
getchar();
exit(-1);
}
/*************************************************************
ADDED
*************************************************************/
hdScheduleAsynchronous(hdBeginCB, 0, HD_MAX_SCHEDULER_PRIORITY);
hdScheduleAsynchronous(hdEndCB, 0, HD_MIN_SCHEDULER_PRIORITY);
/*************************************************************
END ADDED
*************************************************************/
ghHLRC = hlCreateContext(ghHD);
hlMakeCurrent(ghHLRC);
// Enable optimization of the viewing parameters when rendering
// geometry for OpenHaptics.
hlEnable(HL_HAPTIC_CAMERA_VIEW);
// Generate id for the shape.
gShapeId = hlGenShapes(1);
gPointId = hlGenShapes(1);
hlTouchableFace(HL_FRONT);
hlAddEventCallback(HL_EVENT_TOUCH,gPointId , HL_COLLISION_THREAD,
hlTouchCB, 0);
hlAddEventCallback(HL_EVENT_UNTOUCH,gPointId , HL_COLLISION_THREAD,
hlUnTouchCB, 0);
}
/*******************************************************************************
Initialize the HDAPI. This involves initing a device configuration, enabling
forces, and scheduling a haptic thread callback for servicing the device.
*******************************************************************************/
void initHL()
{
HDErrorInfo error;
hHD = hdInitDevice(HD_DEFAULT_DEVICE);
if (HD_DEVICE_ERROR(error = hdGetError()))
{
hduPrintError(stderr, &error, "Failed to initialize haptic device");
fprintf(stderr, "Press any key to exit");
getchar();
exit(-1);
}
hHLRC = hlCreateContext(hHD);
hlMakeCurrent(hHLRC);
// Enable optimization of the viewing parameters when rendering
// geometry for OpenHaptics.
hlEnable(HL_HAPTIC_CAMERA_VIEW);
// Generate id's for the three shapes.
gSphereShapeId = hlGenShapes(1);
gTorusShapeId = hlGenShapes(1);
gTeapotShapeId = hlGenShapes(1);
// Setup event callbacks.
hlAddEventCallback(HL_EVENT_TOUCH, HL_OBJECT_ANY, HL_CLIENT_THREAD,
&touchShapeCallback, NULL);
hlAddEventCallback(HL_EVENT_UNTOUCH, HL_OBJECT_ANY, HL_CLIENT_THREAD,
&untouchShapeCallback, NULL);
hlAddEventCallback(HL_EVENT_TOUCH, gSphereShapeId, HL_CLIENT_THREAD,
&touchSphereCallback, NULL);
hlAddEventCallback(HL_EVENT_UNTOUCH, gSphereShapeId, HL_CLIENT_THREAD,
&untouchSphereCallback, NULL);
hlAddEventCallback(HL_EVENT_TOUCH, gTorusShapeId, HL_CLIENT_THREAD,
&touchTorusCallback, NULL);
hlAddEventCallback(HL_EVENT_UNTOUCH, gTorusShapeId, HL_CLIENT_THREAD,
&untouchTorusCallback, NULL);
hlAddEventCallback(HL_EVENT_TOUCH, gTeapotShapeId, HL_CLIENT_THREAD,
&touchTeapotCallback, NULL);
hlAddEventCallback(HL_EVENT_UNTOUCH, gTeapotShapeId, HL_CLIENT_THREAD,
&untouchTeapotCallback, NULL);
hlAddEventCallback(HL_EVENT_1BUTTONDOWN, HL_OBJECT_ANY, HL_CLIENT_THREAD,
&button1DownCallback, NULL);
hlAddEventCallback(HL_EVENT_1BUTTONUP, HL_OBJECT_ANY, HL_CLIENT_THREAD,
&button1UpCallback, NULL);
hlAddEventCallback(HL_EVENT_2BUTTONDOWN, HL_OBJECT_ANY, HL_CLIENT_THREAD,
&button2DownCallback, NULL);
hlAddEventCallback(HL_EVENT_2BUTTONUP, HL_OBJECT_ANY, HL_CLIENT_THREAD,
&button2UpCallback, NULL);
hlAddEventCallback(HL_EVENT_3BUTTONDOWN, HL_OBJECT_ANY, HL_CLIENT_THREAD,
&button3DownCallback, NULL);
hlAddEventCallback(HL_EVENT_3BUTTONUP, HL_OBJECT_ANY, HL_CLIENT_THREAD,
&button3UpCallback, NULL);
hlAddEventCallback(HL_EVENT_1BUTTONDOWN, gSphereShapeId, HL_CLIENT_THREAD,
&button1DownSphereCallback, NULL);
hlAddEventCallback(HL_EVENT_1BUTTONUP, gSphereShapeId, HL_CLIENT_THREAD,
&button1UpSphereCallback, NULL);
hlAddEventCallback(HL_EVENT_MOTION, HL_OBJECT_ANY, HL_CLIENT_THREAD,
&motionCallback, NULL);
hlAddEventCallback(HL_EVENT_MOTION, gSphereShapeId, HL_CLIENT_THREAD,
&motionOnSphereCallback, NULL);
hlAddEventCallback(HL_EVENT_CALIBRATION_UPDATE, HL_OBJECT_ANY,
HL_CLIENT_THREAD, &calibrationCallback, NULL);
hlAddEventCallback(HL_EVENT_CALIBRATION_INPUT, HL_OBJECT_ANY,
HL_CLIENT_THREAD, &calibrationCallback, NULL);
}
