void HLCALLBACK buttonCB(HLenum event, HLuint object, HLenum thread,
HLcache *cache, void *userdata)
{
if (event == HL_EVENT_1BUTTONDOWN)
{
HLuint spring = *((HLuint *) userdata);
HDdouble anchor[3];
hlCacheGetDoublev(cache, HL_PROXY_POSITION, anchor);
hlEffectd(HL_EFFECT_PROPERTY_GAIN, 0.8);
hlEffectd(HL_EFFECT_PROPERTY_MAGNITUDE, 1.0);
hlEffectdv(HL_EFFECT_PROPERTY_POSITION, anchor);
hlStartEffect(HL_EFFECT_SPRING, spring);
}
else if (event == HL_EVENT_1BUTTONUP)
{
HLuint spring = *((HLuint *) userdata);
hlStopEffect(spring);
}
else if (event == HL_EVENT_2BUTTONDOWN)
{
static const HDdouble direction[3] = { 0, 0, 1 };
static const HDdouble duration = 100; /* ms */
/* Trigger an impulse by commanding a force with a
direction and magnitude for a small duration. */
hlEffectd(HL_EFFECT_PROPERTY_DURATION, duration);
hlEffectd(HL_EFFECT_PROPERTY_MAGNITUDE, 0.8);
hlEffectdv(HL_EFFECT_PROPERTY_DIRECTION, direction);
hlTriggerEffect(HL_EFFECT_CONSTANT);
}
}
//*******************************************************************************
void HapticEffect::triggerEffect( double duration )
{
// Effekt für die Dauer duration (msec) anstoßen
renderProperties();
hlEffectd(HL_EFFECT_PROPERTY_DURATION, duration);
hlTriggerEffect(m_EffectType);
}
/*******************************************************************************
Creates a spring upon button press.
*******************************************************************************/
void HLCALLBACK buttonCB(HLenum event, HLuint object, HLenum thread,
HLcache *cache, void *userdata)
{
if (event == HL_EVENT_1BUTTONDOWN)
{
HLuint spring = *((HLuint *) userdata);
HDdouble anchor[3];
hlCacheGetDoublev(cache, HL_PROXY_POSITION, anchor);
hlEffectd(HL_EFFECT_PROPERTY_GAIN, 0.8);
hlEffectd(HL_EFFECT_PROPERTY_MAGNITUDE, 1.0);
hlEffectdv(HL_EFFECT_PROPERTY_POSITION, anchor);
hlStartEffect(HL_EFFECT_SPRING, spring);
}
else if (event == HL_EVENT_1BUTTONUP)
{
HLuint spring = *((HLuint *) userdata);
hlStopEffect(spring);
}
}
//*******************************************************************************
void ConstantForceEffect::renderProperties()
{
hlEffectd(HL_EFFECT_PROPERTY_MAGNITUDE, m_Magnitude);
hlEffectdv(HL_EFFECT_PROPERTY_DIRECTION, m_Direction);
}
//*******************************************************************************
void SpringForceEffect::renderProperties()
{
hlEffectd(HL_EFFECT_PROPERTY_MAGNITUDE, m_Magnitude);
hlEffectd(HL_EFFECT_PROPERTY_GAIN, m_Gain);
hlEffectdv(HL_EFFECT_PROPERTY_POSITION, m_AnchorPosition);
}
/*******************************************************************************
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;
}
