void CybPhantom::HLIdleFunc()
{
HLerror error;
while (HL_ERROR(error = hlGetError()))
{
fprintf(stderr, "Error: %s\n", error.errorCode);
if (error.errorCode == HL_DEVICE_ERROR)
{
hduPrintError(stderr, &error.errorInfo,
"Error during haptic rendering\n");
}
}
if(cybCore->phantomOn && !flagWorkspaceUpdate){
hapticWorkspaceCalibration();
flagWorkspaceUpdate = true;
}
else if(!cybCore->phantomOn)
{
flagWorkspaceUpdate = false;
}
}
//*******************************************************************************
void HapticEffect::stopEffect()
{
if (m_IsActive)
{
hlStopEffect(m_EffectID);
if (HL_INVALID_OPERATION == hlGetError().errorCode)
{
// nur zum Debuggen benötigt
int bla = 1;
}
m_IsActive = false;
}
}
/*******************************************************************************
GLUT callback for idle state. Use this as an opportunity to request a redraw.
Checks for HLAPI errors that have occurred since the last idle check.
*******************************************************************************/
void glutIdle()
{
HLerror error;
while (HL_ERROR(error = hlGetError()))
{
fprintf(stderr, "HL Error: %s\n", error.errorCode);
if (error.errorCode == HL_DEVICE_ERROR)
{
hduPrintError(stderr, &error.errorInfo,
"Error during haptic rendering\n");
}
}
glutPostRedisplay();
}
//*******************************************************************************
void HapticEffect::startEffect()
{
if (m_IsActive)
{
return;
}
// Effekt mit den in der abstrakten Methode renderProperties() spezifizierten
// Eigenschaften starten
renderProperties();
hlStartEffect(m_EffectType, m_EffectID);
if (!(HL_NO_ERROR == hlGetError().errorCode))
{
// nur zum Debuggen benötigt
int bla = 1;
}
m_IsActive = true;
}
/*******************************************************************************
GLUT callback for idle state. Use this as an opportunity to request a redraw.
Checks for HLAPI errors that have occurred since the last idle check.
*******************************************************************************/
void glutIdle()
{
HLerror error;
while (HL_ERROR(error = hlGetError()))
{
fprintf(stderr, "HL Error: %s\n", error.errorCode);
if (error.errorCode == HL_DEVICE_ERROR)
{
hduPrintError(stderr, &error.errorInfo,
"Error during haptic rendering\n");
}
}
char title[40];
sprintf(title, "Haptic Displacement Mapping %4.1f fps", DetermineFPS());
glutSetWindowTitle(title);
glutPostRedisplay();
}
/*******************************************************************************
Main function.
*******************************************************************************/
int main(int argc, char *argv[])
{
HHD hHD;
HHLRC hHLRC;
HDErrorInfo error;
HLuint friction, spring;
HLerror frameError;
hHD = hdInitDevice(HD_DEFAULT_DEVICE);
if (HD_DEVICE_ERROR(error = hdGetError()))
{
hduPrintError(stderr, &error, "Failed to initialize haptic device");
fprintf(stderr, "\nPress any key to quit.\n");
getch();
return -1;
}
hdMakeCurrentDevice(hHD);
hHLRC = hlCreateContext(hHD);
hlMakeCurrent(hHLRC);
hlDisable(HL_USE_GL_MODELVIEW);
spring = hlGenEffects(1);
/* Add a callback to handle button down in the collision thread. */
hlAddEventCallback(HL_EVENT_1BUTTONDOWN, HL_OBJECT_ANY, HL_CLIENT_THREAD,
buttonCB, &spring);
hlAddEventCallback(HL_EVENT_1BUTTONUP, HL_OBJECT_ANY, HL_CLIENT_THREAD,
buttonCB, &spring);
hlAddEventCallback(HL_EVENT_2BUTTONDOWN, HL_OBJECT_ANY, HL_CLIENT_THREAD,
buttonCB, 0);
/* Start an ambient friction effect. */
friction = hlGenEffects(1);
hlBeginFrame();
hlEffectd(HL_EFFECT_PROPERTY_GAIN, 0.2);
hlEffectd(HL_EFFECT_PROPERTY_MAGNITUDE, 0.5);
hlStartEffect(HL_EFFECT_FRICTION, friction);
hlEndFrame();
printf("Move around to feel the ambient stick-slip friction.\n\n");
printf("Press and hold the primary stylus button to feel the spring effect.\n\n");
printf("Press the second stylus button to trigger an impulse.\n\n");
/* Run the main loop. */
while (!_kbhit())
{
hlBeginFrame();
/* Poll for events. Note that client thread event callbacks get
dispatched from within a frame here, so we can safely start/stop
effects from the event callback directly */
hlCheckEvents();
hlEndFrame();
/* Check for any errors. */
while (HL_ERROR(frameError = hlGetError()))
{
fprintf(stderr, "HL Error: %s\n", frameError.errorCode);
if (frameError.errorCode == HL_DEVICE_ERROR)
{
hduPrintError(stderr, &frameError.errorInfo,
"Error during haptic rendering\n");
}
}
}
/* Stop the friction effect. */
hlBeginFrame();
hlStopEffect(friction);
hlEndFrame();
hlDeleteEffects(friction, 1);
hlDeleteEffects(spring, 1);
hlDeleteContext(hHLRC);
hdDisableDevice(hHD);
return 0;
}
