// get PHANTOM state and update shared data
void updatePhantom(void) {
// initialize frequency counter
p_sharedData->phantomFreqCounter.reset();
while(p_sharedData->simulationRunning) {
if (p_sharedData->m_phantomLoopTimer.timeoutOccurred()) {
p_sharedData->m_phantomLoopTimer.stop();
if (p_sharedData->input == PHANTOM) {
// get PHANTOM position and velocity vectors
p_sharedData->p_Phantom->getPosition(pos);
p_sharedData->p_Phantom->getLinearVelocity(vel);
// extract X elements from vectors
p_sharedData->phantomPos = pos.y();
p_sharedData->phantomVel = vel.y();
// update frequency counter
p_sharedData->phantomFreqCounter.signal(1);
}
p_sharedData->m_phantomLoopTimer.start(true);
Sleep(1);
}
}
}
void updateGraphics(void)
{
int px;
// update position of label
labelHapticDeviceModel->setLocalPos(10, displayH - 30, 0.0);
// update position of label and content
double posX = 1000 * hapticDevicePosition.x();
double posY = 1000 * hapticDevicePosition.y();
double posZ = 1000 * hapticDevicePosition.z();
labelHapticDevicePosition->setString("position [mm]: " + cStr(posX, 0) + " " +
cStr(posY, 0) + " " +
cStr(posZ, 0));
labelHapticDevicePosition->setLocalPos(10, displayH - 50, 0.0);
// update haptic rate label
labelHapticRate->setString ("haptic rate: "+cStr(frequencyCounter.getFrequency(), 0) + " [Hz]");
px = (int)(0.5 * (displayW - labelHapticRate->getWidth()));
labelHapticRate->setLocalPos(px, 15);
// render world
camera->renderView(displayW, displayH);
// swap buffers
glutSwapBuffers();
// check for any OpenGL errors
GLenum err;
err = glGetError();
if (err != GL_NO_ERROR) printf("Error: %s\n", gluErrorString(err));
}
