void CHapticViewerView::initHL()
{
HDErrorInfo error;
m_hHD = hdInitDevice(HD_DEFAULT_DEVICE);
if (HD_DEVICE_ERROR(error = hdGetError()))
{
char errorMsg[500];
sprintf(errorMsg,
"HD error %s\nHHD: %X\nError Code: %X\nInternalErrorCode: %d\n%s\n",
hdGetErrorString(error.errorCode),
error.hHD,
error.errorCode,
error.internalErrorCode,
"Failed to initialize haptic device");
MessageBox(errorMsg);
getchar();
exit(1);
}
// Create a haptic context for the device. The haptic context maintains
// the state that persists between frame intervals and is used for
// haptic rendering.
m_hHLRC = hlCreateContext(m_hHD);
hlMakeCurrent(m_hHLRC);
hlTouchableFace(HL_FRONT);
}
int CybPhantom::initHL()
{
//TODO HABILITAR O OUTPUT FORCE NA HD.
HDErrorInfo error;
hapticDevice = hdInitDevice(HD_DEFAULT_DEVICE);
if(HD_DEVICE_ERROR(error = hdGetError()))
{
//Falta tratar o erro!
hduPrintError(stderr, &error, "Failed to initialize haptic device");
return -1;
}
checkCalibrationStatus(&stateCalibration);
hapticContext = hlCreateContext(hapticDevice);
hlMakeCurrent(hapticContext);
hlTouchableFace(HL_FRONT_AND_BACK);
hlEnable(HL_HAPTIC_CAMERA_VIEW);
//hlEnable(HL_ADAPTIVE_VIEWPORT);
//hdEnable(HD_FORCE_OUTPUT);
return 0;
}
/*******************************************************************************
The main routine for haptically rendering the scene.
*******************************************************************************/
void drawSceneHaptics()
{
hlBeginFrame();
hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, gSphereShapeId);
hlTouchableFace(HL_FRONT);
drawSphere();
hlEndShape();
hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, gTorusShapeId);
hlTouchableFace(HL_FRONT);
drawTorus();
hlEndShape();
hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, gTeapotShapeId);
hlTouchableFace(HL_BACK);
drawTeapot();
hlEndShape();
hlEndFrame();
// Call any event callbacks that have been triggered.
hlCheckEvents();
}
/* redisplaying graphics */
void Display(void)
{
hlBeginFrame();
hlMaterialf(HL_FRONT_AND_BACK, HL_STATIC_FRICTION, 0.1);
hlMaterialf(HL_FRONT_AND_BACK, HL_DYNAMIC_FRICTION, 0.8);
hlCheckEvents();
/* clear the display */
//glClear(GL_COLOR_BUFFER_BIT);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//materialsTest();
if (mDrawSurface)
mSurface.DrawSurface();
// draw the haptic surface
hlHintb(HL_SHAPE_DYNAMIC_SURFACE_CHANGE, HL_TRUE);
hlTouchableFace(HL_BACK);
hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, mSurfaceShapeId);
mSurface.DrawSurface();
hlEndShape();
glDisable(GL_LIGHTING);
if (mDrawSystem)
mPS.Draw();
if (mDrawNormals)
mSurface.DrawSurfaceNormals();
glEnable(GL_LIGHTING);
// draw the 3D cursor
RedrawCursor();
// show FPS
if (mDrawInfo != drawInfo_None)
DisplayInfo();
// swap the double buffers
glutSwapBuffers();
hlEndFrame();
}
/*******************************************************************************
Initialize the HDAPI. This involves initing a device configuration, enabling
forces, and scheduling a haptic thread callback for servicing the device.
*******************************************************************************/
void initHL()
{
HDErrorInfo error;
ghHD = hdInitDevice( HD_DEFAULT_DEVICE );
if (HD_DEVICE_ERROR(error = hdGetError()))
{
hduPrintError(stderr, &error, "Failed to initialize haptic device");
fprintf(stderr, "Press any key to exit");
getchar();
exit(-1);
}
/*************************************************************
ADDED
*************************************************************/
hdScheduleAsynchronous(hdBeginCB, 0, HD_MAX_SCHEDULER_PRIORITY);
hdScheduleAsynchronous(hdEndCB, 0, HD_MIN_SCHEDULER_PRIORITY);
/*************************************************************
END ADDED
*************************************************************/
ghHLRC = hlCreateContext(ghHD);
hlMakeCurrent(ghHLRC);
// Enable optimization of the viewing parameters when rendering
// geometry for OpenHaptics.
hlEnable(HL_HAPTIC_CAMERA_VIEW);
// Generate id for the shape.
gShapeId = hlGenShapes(1);
gPointId = hlGenShapes(1);
hlTouchableFace(HL_FRONT);
hlAddEventCallback(HL_EVENT_TOUCH,gPointId , HL_COLLISION_THREAD,
hlTouchCB, 0);
hlAddEventCallback(HL_EVENT_UNTOUCH,gPointId , HL_COLLISION_THREAD,
hlUnTouchCB, 0);
}
void CybPhantom::hapticRendering()
{
if(!shapeIdListIscreated)
{
genShapeIdList(cybCore->numLayer);
shapeIdListIscreated = true;
}
if(habHapticLayers == NULL)
{
cout<<"Message Error: Haptic Layer don't exist!"<<endl;
}
else{
hlBeginFrame();
glPushMatrix();
//cout << "Haptic layers " << numHapticLayers << endl;
for(int j = 0; j < numHapticLayers; j++){
if(habHapticLayers[j] == true){
glTranslated(cybCore->xTrans + cybCore->layerTrans[j][0], cybCore->yTrans + cybCore->layerTrans[j][1], cybCore->zTrans + cybCore->layerTrans[j][2]);
glScaled(cybCore->xScale * cybCore->layerSca[j][0], cybCore->yScale * cybCore->layerSca[j][1], cybCore->zScale * cybCore->layerSca[j][2]);
glTranslated(cybCore->cX, cybCore->cY, cybCore->cZ);
glRotated(cybCore->getXAngle() + cybCore->layerRot[j][0],1,0,0);
glRotated(cybCore->getYAngle() + cybCore->layerRot[j][1],0,1,0);
glRotated(cybCore->getZAngle() + cybCore->layerRot[j][2],0,0,1);
glTranslated(-cybCore->cX, -cybCore->cY, -cybCore->cZ);
if(materialPropertiesIsEnable){
if(cybCore->materialPropertyContextCreated() && cybCore->propertyFaceModified())
updateHapticsFaces();
if(habHapticLayersMaterial == NULL)
{
cout<<"Message Error: Material context don't exist!"<<endl;
}
else{
if(habHapticLayersMaterial[j] == true){
hlMaterialf(propertyFace[j][0], HL_STIFFNESS, cybCore->getMaterialPropertyValue(j, STIFFNESS));
hlMaterialf(propertyFace[j][1], HL_DAMPING, cybCore->getMaterialPropertyValue(j, DAMPING));
hlMaterialf(propertyFace[j][2], HL_STATIC_FRICTION, cybCore->getMaterialPropertyValue(j, STATIC_FRICTION));
hlMaterialf(propertyFace[j][3], HL_DYNAMIC_FRICTION, cybCore->getMaterialPropertyValue(j, DYNAMIC_FRICTION));
if(ambientPropertyIsEnable){
hlMaterialf(HL_FRONT_AND_BACK, HL_POPTHROUGH,1);
}
else{
hlMaterialf(propertyFace[j][4], HL_POPTHROUGH,cybCore->getMaterialPropertyValue(j, POPTHROUGH));
}
}
}
}
hlHinti(HL_SHAPE_FEEDBACK_BUFFER_VERTICES, cybCore->nv[j]);
hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, shapeId[j]);
if(ambientPropertyIsEnable)
hlTouchableFace(CybViscosity::ViscosityShapeAttribute[j].currentFace);
else hlTouchableFace(HL_FRONT_AND_BACK);
CybVector3D<float> v1;
for(int i = 0; i < cybCore->nt[j]; i++){
glBegin(GL_TRIANGLES);
v1 = cybCore->vNormalCell[j][i];
glNormal3f(v1[0], v1[1], v1[2]);
v1 = cybCore->coordList[j][cybCore->v[j][i][0]];
glVertex3f(v1[0], v1[1], v1[2]);
v1 = cybCore->coordList[j][cybCore->v[j][i][1]];
glVertex3f(v1[0], v1[1], v1[2]);
v1 = cybCore->coordList[j][cybCore->v[j][i][2]];
glVertex3f(v1[0], v1[1],v1[2]);
glEnd();
glFlush();
}
hlEndShape();
}
glLoadIdentity();
}
glPopMatrix();
hlEndFrame();
}
hlCheckEvents();
}