hellosphere.cpp

此为open haptics的应用。需要phantom仪器进行操作。模拟的是一个cursor去触摸一个球。你能得到触觉和视觉的反馈

/*****************************************************************************

Copyright (c) 2004 SensAble Technologies, Inc. All rights reserved.

OpenHaptics(TM) toolkit. The material embodied in this software and use of
this software is subject to the terms and conditions of the clickthrough
Development License Agreement.

For questions, comments or bug reports, go to forums at: 
    http://dsc.sensable.com

Module Name:

  HelloSphere.cpp

Description: 

  This example demonstrates basic haptic rendering of a shape.

******************************************************************************/

#include <math.h>
#include <assert.h>

#ifdef WIN32
#include <windows.h>
#endif

#include <GL/gl.h>
#include <GL/glut.h>

#include <HL/hl.h>
#include <HDU/hduMatrix.h>
#include <HDU/hduError.h>

#include <HLU/hlu.h>

// haptic device and rendering context handles
static HHD hHD = HD_INVALID_HANDLE;
static HHLRC hHLRC = 0;

// shape id for shape we will render haptically
HLuint sphereShapeId;

#define CURSOR_SIZE_PIXELS 20
static double gCursorScale;
static GLuint gCursorDisplayList = 0;

/* Function prototypes. */
void glutDisplay(void);
void glutReshape(int width, int height);
void glutIdle(void);    

void exitHandler(void);

void initGL();
void initHL();
void initScene();
void drawSceneHaptics();
void drawSceneGraphics();
void drawCursor();
void updateWorkspace();

/*******************************************************************************
 Initializes GLUT for displaying a simple haptic scene
*******************************************************************************/
int main(int argc, char *argv[])
{
    glutInit(&argc, argv);
    
    glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);

    glutInitWindowSize(500, 500);
    glutCreateWindow("HelloSphere Example");

    /* Set glut callback functions. */
    glutDisplayFunc(glutDisplay);
    glutReshapeFunc(glutReshape);
    glutIdleFunc(glutIdle);
    
    /* Provide a cleanup routine for handling application exit. */
    atexit(exitHandler);

    initScene();

    glutMainLoop();

    return 0;
}

/*******************************************************************************
 GLUT callback for redrawing the view 
*******************************************************************************/
void glutDisplay()
{   
    drawSceneHaptics();

    drawSceneGraphics();

    glutSwapBuffers();
}

/*******************************************************************************
 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(kFovY, aspect, nearDist, farDist);

    /* Place the camera down the Z axis looking at the origin */
    glMatrixMode(GL_MODELVIEW);
    glLoadIdentity();            
    gluLookAt(0, 0, nearDist + 1.0,
              0, 0, 0,
              0, 1, 0);
    
    updateWorkspace();
}

/*******************************************************************************
 GLUT callback for idle state. Use this as an opportunity to request a redraw.
 Also check for HLAPI errors that have occurred since the last idle check
*******************************************************************************/
void glutIdle()
{
    HLerror error;

    while (HL_ERROR(error = hlGetError()))
    {
        fprintf(stderr, "HL Error: %s\n", error.errorCode);
        
        if (error.errorCode == HL_DEVICE_ERROR)
        {
            hduPrintError(stderr, &error.errorInfo,
                "Error during haptic rendering\n");
        }
    }
    
    glutPostRedisplay();
}

/*******************************************************************************
 Initialize the scene. Handle initializing both OpenGL and HL
*******************************************************************************/
void initScene()
{
    initGL();
    initHL();
}

/*******************************************************************************
 Setup general OpenGL rendering properties, like lights, depth buffering, etc.
*******************************************************************************/
void initGL()
{
    static const GLfloat light_model_ambient[] = {0.3f, 0.3f, 0.3f, 1.0f};
    static const GLfloat light0_diffuse[] = {0.9f, 0.9f, 0.9f, 0.9f};   
    static const GLfloat light0_direction[] = {0.0f, -0.4f, 1.0f, 0.0f};    
    
    /* Enable depth buffering for hidden surface removal. */
    glDepthFunc(GL_LEQUAL);
    glEnable(GL_DEPTH_TEST);
    
    /* Cull back faces. */
    glCullFace(GL_BACK);
    glEnable(GL_CULL_FACE);
    
    /* Set lighting parameters */
    glEnable(GL_LIGHTING);
    glEnable(GL_NORMALIZE);
    glShadeModel(GL_SMOOTH);
    
    glLightModeli(GL_LIGHT_MODEL_LOCAL_VIEWER, GL_FALSE);
    glLightModeli(GL_LIGHT_MODEL_TWO_SIDE, GL_FALSE);    
    glLightModelfv(GL_LIGHT_MODEL_AMBIENT, light_model_ambient);
    glLightfv(GL_LIGHT0, GL_DIFFUSE, light0_diffuse);
    glLightfv(GL_LIGHT0, GL_POSITION, light0_direction);
    glEnable(GL_LIGHT0);   
}

/*******************************************************************************
 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;

    hHD = 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);
    }
    
    hHLRC = hlCreateContext(hHD);
    hlMakeCurrent(hHLRC);

    // Enable optimization of the viewing parameters when rendering
    // geometry for OpenHaptics
    hlEnable(HL_HAPTIC_CAMERA_VIEW);

    // generate id's for the three shapes
    sphereShapeId = hlGenShapes(1);

    hlTouchableFace(HL_FRONT);
}

/*******************************************************************************
 This handler will get called when the application is exiting.
 Deallocates any state and cleans up.
*******************************************************************************/
void exitHandler()
{
    // deallocate the sphere shape id we reserved in in initHL
    hlDeleteShapes(sphereShapeId, 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);
    }
}

/*******************************************************************************
 Use the current OpenGL viewing transforms to initialize a transform for the
 haptic device workspace so that it's properly mapped to world coordinates.
*******************************************************************************/
void updateWorkspace()
{
    GLdouble modelview[16];
    GLdouble projection[16];
    GLint viewport[4];

    glGetDoublev(GL_MODELVIEW_MATRIX, modelview);
    glGetDoublev(GL_PROJECTION_MATRIX, projection);
    glGetIntegerv(GL_VIEWPORT, viewport);

    hlMatrixMode(HL_TOUCHWORKSPACE);
    hlLoadIdentity();
    
    /* fit haptic workspace to view volume */
    hluFitWorkspace(projection);

    /* compute cursor scale */
    gCursorScale = hluScreenToModelScale(modelview, projection, viewport);
    gCursorScale *= CURSOR_SIZE_PIXELS;
}

/*******************************************************************************
 The main routine for displaying the scene. Get the latest snapshot of state
 from the haptic thread and use it for displaying a 3D cursor.
*******************************************************************************/
void drawSceneGraphics()
{
    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);           

    // draw 3D cursor at haptic device position
    drawCursor();

    // draw a sphere using OpenGL
    glutSolidSphere(0.5, 32, 32);
}

/*******************************************************************************
 The main routine for rendering scene haptics. 
 Renders the sphere haptically.
*******************************************************************************/
void drawSceneHaptics()
{    
    // start haptic frame - must do this before rendering any haptic shapes
    hlBeginFrame();

    // set material properties for the shapes to be drawn
    hlMaterialf(HL_FRONT_AND_BACK, HL_STIFFNESS, 0.7f);
    hlMaterialf(HL_FRONT_AND_BACK, HL_DAMPING, 0.1f);
    hlMaterialf(HL_FRONT_AND_BACK, HL_STATIC_FRICTION, 0.2f);
    hlMaterialf(HL_FRONT_AND_BACK, HL_DYNAMIC_FRICTION, 0.3f);

    // start a new haptic shape, use the feedback buffer to
    // capture OpenGL geometry for haptic rendering
    hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, sphereShapeId);

    // use OpenGL commands to create geometry
    glutSolidSphere(0.5, 32, 32);

    // end the shape
    hlEndShape();

    // end the haptic frame
    hlEndFrame();
}


/*******************************************************************************
 Draw a 3D cursor for the haptic device using the current local transform,
 the workspace to world transform and the screen coordinate scale.
*******************************************************************************/
void drawCursor()
{
    static const double kCursorRadius = 0.5;
    static const double kCursorHeight = 1.5;
    static const int kCursorTess = 15;
    HLdouble proxyxform[16];

    GLUquadricObj *qobj = 0;

    glPushAttrib(GL_CURRENT_BIT | GL_ENABLE_BIT | GL_LIGHTING_BIT);
    glPushMatrix();

    if (!gCursorDisplayList)
    {
        gCursorDisplayList = glGenLists(1);
        glNewList(gCursorDisplayList, GL_COMPILE);
        qobj = gluNewQuadric();
               
        gluCylinder(qobj, 0.0, kCursorRadius, kCursorHeight,
                    kCursorTess, kCursorTess);
        glTranslated(0.0, 0.0, kCursorHeight);
        gluCylinder(qobj, kCursorRadius, 0.0, kCursorHeight / 5.0,
                    kCursorTess, kCursorTess);
    
        gluDeleteQuadric(qobj);
        glEndList();
    }
    
    /* Get the proxy transform in world coordinates */
    hlGetDoublev(HL_PROXY_TRANSFORM, proxyxform);
    glMultMatrixd(proxyxform);

    /* Apply the local cursor scale factor. */
    glScaled(gCursorScale, gCursorScale, gCursorScale);

    glEnable(GL_COLOR_MATERIAL);
    glColor3f(0.0, 0.5, 1.0);

    glCallList(gCursorDisplayList);

    glPopMatrix(); 
    glPopAttrib();
}