void CybPhantom::exitHL()
{
if(shapeIdListIscreated){
for(int i = 0; i < numHapticLayers; i++)
hlDeleteShapes(shapeId[i], 1);
delete [] properties;
}
hlMakeCurrent(NULL);
if(hapticContext != NULL)
{
hlDeleteContext(hapticContext);
}
if(hapticDevice != HD_INVALID_HANDLE)
{
hdDisableDevice(hapticDevice);
hapticDevice = HD_INVALID_HANDLE;
}
if(ambientPropertyIsEnable){
CybViscosity *viscosity = CybViscosity::getInstance();
viscosity->stopAmbientProperty();
delete viscosity;
}
}
//*******************************************************************************
HapticObject::~HapticObject()
{
// Shapes für Haptik freigeben
hlDeleteShapes(m_HLShapeID, 1);
// hlDeleteShapes(m_constraintSID, 1);
// evtl. vorhandene Actionhandler freigeben
vector<IHapticAction*>::iterator iterAct = NULL;
for (iterAct = m_HapticActions.begin(); iterAct != m_HapticActions.end(); iterAct++)
{
if (*iterAct != NULL)
{
(*iterAct)->unregisterAction(m_HLShapeID);
delete (*iterAct);
(*iterAct) = NULL;
}
}
// Constraint freigeben, wenn eins vorhanden ist
if (m_pHapticConstraint != NULL)
{
delete m_pHapticConstraint;
m_pHapticConstraint = NULL;
}
}
/*******************************************************************************
This handler is called when the application is exiting. Deallocates any state
and cleans up.
*******************************************************************************/
void exitHandler()
{
// Remove event callbacks.
hlRemoveEventCallback(HL_EVENT_TOUCH, gSphereShapeId,
HL_CLIENT_THREAD, touchSphereCallback);
hlRemoveEventCallback(HL_EVENT_UNTOUCH, gSphereShapeId,
HL_CLIENT_THREAD, untouchSphereCallback);
hlRemoveEventCallback(HL_EVENT_TOUCH, gTorusShapeId,
HL_CLIENT_THREAD, touchTorusCallback);
hlRemoveEventCallback(HL_EVENT_UNTOUCH, gTorusShapeId,
HL_CLIENT_THREAD, untouchTorusCallback);
hlRemoveEventCallback(HL_EVENT_TOUCH, gTeapotShapeId,
HL_CLIENT_THREAD, touchTeapotCallback);
hlRemoveEventCallback(HL_EVENT_UNTOUCH, gTeapotShapeId,
HL_CLIENT_THREAD, untouchTeapotCallback);
hlRemoveEventCallback(HL_EVENT_CALIBRATION_UPDATE, HL_OBJECT_ANY,
HL_CLIENT_THREAD, calibrationCallback);
hlRemoveEventCallback(HL_EVENT_CALIBRATION_INPUT, HL_OBJECT_ANY,
HL_CLIENT_THREAD, calibrationCallback);
// Deallocate the shape ids we reserved in initHL.
hlDeleteShapes(gSphereShapeId, 1);
hlDeleteShapes(gTorusShapeId, 1);
hlDeleteShapes(gSphereShapeId, 1);
// Free up the haptic rendering context.
hlMakeCurrent(NULL);
if (hHLRC != NULL)
{
hlDeleteContext(hHLRC);
}
// Free up the haptic device.
if (hHD != HD_INVALID_HANDLE)
{
hdDisableDevice(hHD);
}
}
/*******************************************************************************
This handler is called when the application is exiting. Deallocates any state
and cleans up.
*******************************************************************************/
void exitHandler()
{
// Deallocate the sphere shape id we reserved in initHL.
if (objmodel)
{
hlDeleteShapes(gShapeId, 1);
hlDeleteShapes(gPointId, 1);
}
// Free up the haptic rendering context.
hlMakeCurrent(NULL);
if (ghHLRC != NULL)
{
hlDeleteContext(ghHLRC);
}
// Free up the haptic device.
if (ghHD != HD_INVALID_HANDLE)
{
hdDisableDevice(ghHD);
}
}
RigidBody::~RigidBody()
{
// delete our faces, edges, vertices, and normals
deleteFaces();
deleteEdges(edges);
// Since nonParallelEdges is a list of pointers to some
// of the edge objects in "edges" (i.e. re-use of same
// edge objects) we don't need to delete them again, just
// clear the list.
nonParallelEdges.clear();
deleteVectorList(verticesWorld);
deleteVectorList(verticesObject);
deleteVectorList(normalsWorld);
deleteVectorList(normalsObject);
hlDeleteShapes(shapeId, 1);
}
//*******************************************************************************
HapticConstraint::~HapticConstraint()
{
// Shape bei HLAPI deregistrieren
hlDeleteShapes(m_HLConstraintID, 1);
}
