FB::variant hapticAPI::getPosition()
{
if (initialized){
hdPhantomGetPosition(deviceID, &position[0],&position[1],&position[2]);
double buf[3];
if (strcmp(context.c_str(),"2d")==0){
buf[0] = position[1]+0.1+offsetX;
buf[1] = -(position[2]-0.1)+offsetY;
buf[2] = position[0];
double x = (buf[0]/pixelWidth);
double y = (buf[1]/pixelWidth);
mouseRenderPosition(x,y);
if (leftButton())
mouseRenderLeftButton();
}
else{
buf[0] = position[1];
buf[1] = -position[2];
buf[2] = -position[0];
}
std::string pos = arrayToString(buf);
return pos;
}
return NotInitializedString;
}
//===========================================================================
int cPhantomDevice::getPosition(cVector3d& a_position)
{
// check if drivers are installed
if (!m_driverInstalled) return (-1);
double x,y,z;
int error = hdPhantomGetPosition(m_deviceID, &x, &y, &z);
a_position.set(x, y, z);
estimateLinearVelocity(a_position);
return (error);
}
