/*******************************************************************************
The main routine for rendering scene haptics.
*******************************************************************************/
void drawSceneHaptics()
{
hlGetDoublev(HL_PROXY_TOUCH_NORMAL, proxyNormal);
hlGetDoublev(HL_PROXY_POSITION, proxyPosition);
// Start haptic frame. (Must do this before rendering any haptic shapes.)
hlBeginFrame();
hlPushMatrix();
hlTouchModel(HL_CONTACT);
// Set material properties for the shapes to be drawn.
hlMaterialf(HL_FRONT_AND_BACK, HL_STIFFNESS, 0.9f);
hlMaterialf(HL_FRONT_AND_BACK, HL_DAMPING, 0.0f);
hlMaterialf(HL_FRONT_AND_BACK, HL_STATIC_FRICTION, 0.1);
hlMaterialf(HL_FRONT_AND_BACK, HL_DYNAMIC_FRICTION,0.1 );
hlHinti(HL_SHAPE_FEEDBACK_BUFFER_VERTICES, objmodel->numvertices);
hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, gShapeId);
// Render haptic shape
glPushMatrix();
glCallList(bumpList);
glPopMatrix();
// End the shape.
hlEndShape();
hlPopMatrix();
hlPushMatrix();
hlTouchModel(HL_CONSTRAINT);
hlMaterialf(HL_FRONT_AND_BACK, HL_STIFFNESS, 0.4f);
hlMaterialf(HL_FRONT_AND_BACK, HL_DAMPING, 0.3f);
hlMaterialf(HL_FRONT_AND_BACK, HL_STATIC_FRICTION, 0.1);
hlMaterialf(HL_FRONT_AND_BACK, HL_DYNAMIC_FRICTION,0.1 );
if (touchedHole && force[2] > -0.1 )
{
hlTouchModelf(HL_SNAP_DISTANCE, 300.0);
}
else
{
hlTouchModelf(HL_SNAP_DISTANCE, 3.0);
}
hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, gPointId);
glPushMatrix();
glPointSize(5.0);
glTranslatef(0.0, 0.0, 1.0);
glBegin(GL_POINTS);
glVertex3f(0.05,-0.175,-0.975);
glEnd();
glPopMatrix();
hlEndShape();
hlPopMatrix();
// End the haptic frame.
hlEndFrame();
}
//*******************************************************************************
void HapticConstraint::renderConstraint( HapticObject * pObj )
{
// den Constraint nur dann rendern, wenn er aktiviert ist
if (!m_Enabled)
{
return;
}
hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, m_HLConstraintID);
hlTouchModel(HL_CONSTRAINT);
hlTouchModelf(HL_SNAP_DISTANCE, m_SnapDistance);
pObj->renderShapeAtPosition();
hlEndShape();
}
//*******************************************************************************
void HapticObject::renderHaptics()
{
hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, m_HLShapeID);
hlTouchModel(HL_CONTACT);
// Dummy
renderDefaultHapticProperties();
renderShapeAtPosition();
hlEndShape();
if (m_pHapticConstraint != NULL)
{
m_pHapticConstraint->renderConstraint(this);
}
}