void CHapticViewerView::updateGLView(Mesh* pMesh)
{
wglMakeCurrent(m_hDC,m_hRC);
static const double kPI = 3.1415926535897932384626433832795;
static const double kFovY = 50;
glViewport(0, 0, m_windowWidth, m_windowHeight);
// Compute the viewing parameters based on a fixed fov and viewing
// a canonical [-1..1] box centered at the origin.
const double halfBox = 1.0;
double nearDist = halfBox/tan((kFovY / 2.0) * kPI / 180.0);
double farDist = nearDist + 2*halfBox;
double aspect = (double) m_windowWidth / m_windowHeight;
// Move near dist back to avoid clipping front face.
nearDist *= 0.9;
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(kFovY, aspect, nearDist, farDist);
m_cameraPosWC[0] = 0;
m_cameraPosWC[1] = 0;
m_cameraPosWC[2] = nearDist + halfBox;
updateGLCamera();
updateWorkspace();
}
/*******************************************************************************
GLUT callback for reshaping the window. This is the main place where the
viewing and workspace transforms get initialized.
*******************************************************************************/
void glutReshape(int width, int height)
{
static const double kPI = 3.1415926535897932384626433832795;
static const double kFovY = 40;
double nearDist, farDist, aspect;
glViewport(0, 0, width, height);
// Compute the viewing parameters based on a fixed fov and viewing
// a canonical box centered at the origin.
nearDist = 1.0 / tan((kFovY / 2.0) * kPI / 180.0);
farDist = nearDist + 2.0;
aspect = (double) width / height;
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(45, aspect, 0.1, farDist);
// Place the camera down the Z axis looking at the origin.
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(0, 0, -1.0+farDist,
0, 0, 0,
0, 1, 0);
updateWorkspace();
}
/*******************************************************************************
The main routine for displaying the scene. Gets the latest snapshot of state
from the haptic thread and uses it to display a 3D cursor.
*******************************************************************************/
void drawSceneGraphics()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
// place camera/eye
glTranslatef(xTranslate ,yTranslate ,zDepth);
glRotatef(-yRotation, 1.0,0.0,0.0);
glRotatef(-xRotation, 0.0,1.0,0.0);
glDisable(GL_TEXTURE_2D);
drawCursor();
glEnable(GL_TEXTURE_2D);
glPushMatrix();
glCallList(objList); //Displays regular OBJ model
// glCallList(bumpList); //Displays displacement mapped OBJ model
glPopMatrix();
//Uncomment to see the Entry Point
glPushAttrib(GL_CURRENT_BIT | GL_ENABLE_BIT | GL_LIGHTING_BIT);
glDisable(GL_TEXTURE_2D);
glPushMatrix();
glPointSize(15.0);
glTranslatef(0.0, 0.0, 1.0);
glBegin(GL_POINTS);
glEnable(GL_COLOR_MATERIAL);
glColor3f(0.0,0.0,1.0);
glVertex3f(0.05,-0.175,0.975);
glEnd();
glPopMatrix();
glPopAttrib();
DisplayInfo();
glEnable(GL_TEXTURE_2D);
updateWorkspace();
}
void CHapticViewerView::OnMButtonUp(UINT nFlags, CPoint point)
{
m_isTranslatingCamera = false;
updateWorkspace();
}
void CHapticViewerView::OnRButtonUp(UINT nFlags, CPoint point)
{
m_isScalingCamera = false;
updateWorkspace();
}
void HapticsSim::step()
{
cMeta3dofPointer *cursor = m_cursor->object();
cursor->updatePose();
cVector3d pos = cursor->m_deviceGlobalPos;
updateWorkspace(pos);
pos.copyto(cursor->m_deviceGlobalPos);
pos.copyto(m_cursor->m_position);
cursor->m_deviceGlobalVel.copyto(m_cursor->m_velocity);
if (m_pGrabbedObject) {
cursor->m_lastComputedGlobalForce.set(0,0,0);
m_cursor->addCursorGrabbedForce(m_pGrabbedObject);
} else {
cursor->computeForces();
m_cursor->addCursorMassForce();
}
m_cursor->addCursorExtraForce();
cursor->applyForces();
m_counter++;
int update_sim = Simulation::ST_VISUAL;
if (m_pGrabbedObject)
update_sim |= Simulation::ST_PHYSICS;
if (update_sim)
{
/* If in contact with an object, display the cursor at the
* proxy location instead of the device location, so that it
* does not show it penetrating the object. */
cProxyPointForceAlgo *algo =
(cProxyPointForceAlgo*) cursor->m_pointForceAlgos[0];
if (algo->getContactObject())
pos = algo->getProxyGlobalPosition();
sendtotype(update_sim, true,
"/world/cursor/position","fff",
pos.x, pos.y, pos.z);
}
findContactObject();
if (m_pContactObject) {
sendtotype(Simulation::ST_PHYSICS, true,
(m_pContactObject->path()+"/push").c_str(), "ffffff",
-m_lastForce.x,
-m_lastForce.y,
-m_lastForce.z,
m_lastContactPoint.x,
m_lastContactPoint.y,
m_lastContactPoint.z);
bool co1 = m_pContactObject->collidedWith(m_cursor, m_counter);
bool co2 = m_cursor->collidedWith(m_pContactObject, m_counter);
if ( (co1 || co2) && m_collide.m_value ) {
lo_send(address_send, "/world/collide", "ssf",
m_pContactObject->c_name(), m_cursor->c_name(),
(double)(m_pContactObject->m_velocity
- m_cursor->m_velocity).length());
}
}
}
