//////////////////////////////////////////////////////////////////////////////
// transformFrustum -
// Transform srcFrustum by mat, result in dstFrustum.
//
//////////////////////////////////////////////////////////////////////////////
void transformFrustum(
const hduMatrix& mat,
const hduVector3Dd* srcFrustum,
hduVector3Dd* dstFrustum
)
{
for (int i = 0; i < 8; ++i)
{
hduVector3Dd dst;
mat.multVecMatrix(srcFrustum[i], dst);
dstFrustum[i][0] = dst[0];
dstFrustum[i][1] = dst[1];
dstFrustum[i][2] = dst[2];
}
}
/***************************************************************************************
Servo loop thread callback. Computes a force effect. This callback defines the motion
of the purple skull and calculates the force based on the "real-time" Proxy position
in Device space.
****************************************************************************************/
void HLCALLBACK computeForceCB(HDdouble force[3], HLcache *cache, void *userdata)
{
DataTransportClass *localdataObject = (DataTransportClass *) userdata;//Typecast the pointer passed in appropriately
hduVector3Dd skullPositionDS;//Position of the skull (Moving sphere) in Device Space.
hduVector3Dd proxyPosition;//Position of the proxy in device space
HDdouble instRate = 0.0;
HDdouble deltaT = 0.0;
static float counter = 0.0;
float degInRad = 0.0;
static int counter1 = 0;
// Get the time delta since the last update.
hdGetDoublev(HD_INSTANTANEOUS_UPDATE_RATE, &instRate);
deltaT = 1.0 / instRate;
counter+=deltaT;
degInRad = counter*20*3.14159/180;
hduVector3Dd ModelPos = localdataObject->Model->getTranslation();
localdataObject->Model->setTranslation(-ModelPos);
localdataObject->Model->setTranslation(cos(degInRad)*64.0, sin(degInRad)*64.0,5.0);//Move the skull aroubnd in a circle
WorldToDevice.multVecMatrix(localdataObject->Model->getTranslation(),skullPositionDS);//Convert the position of the sphere from world space to device space
hlCacheGetDoublev(cache, HL_PROXY_POSITION, proxyPosition);//Get the position of the proxy in Device Coordinates (All HL commands in the servo loop callback fetch values in device coordinates)
forceVec = forceField(proxyPosition, skullPositionDS, 40.0, 5.0);//Calculate the force
counter1++;
if(counter1>2000)//Make the force start after 2 seconds of program start. This is because the servo loop thread executes before the graphics thread.
//Hence global variables set in the graphics thread will not be valid for sometime in the begining og the program
{
force[0] = forceVec[0];
force[1] = forceVec[1];
force[2] = forceVec[2];
counter1 = 2001;
}
else
{
force[0] = 0.0;
force[1] = 0.0;
force[2] = 0.0;
}
}