SensAble.cpp File Reference
#include <stdio.h>#include <assert.h>#include <sofa/helper/system/gl.h>#include <sofa/helper/system/glut.h>#include <HD/hd.h>#include <HDU/hduVector.h>#include <HDU/hduError.h>#include "SensAble.h"#include <sofa/simulation/tree/GNode.h>#include <sofa/simulation/common/MechanicalVisitor.h>#include <sofa/simulation/common/UpdateMappingVisitor.h>#include <sofa/core/objectmodel/KeypressedEvent.h>#include <sofa/core/objectmodel/KeyreleasedEvent.h>#include <sofa/core/ObjectFactory.h>
Go to the source code of this file.
Data Structures | |
| struct | DeviceData |
| Holds data retrieved from HDAPI. More... | |
Functions | |
| HDCallbackCode HDCALLBACK | SetForceCallback (void *pUserData) |
| HDCallbackCode HDCALLBACK | applyForceCallback (void *) |
| This routine allows the device to provide information about the current location of the stylus, and contains a mechanism for terminating the application. | |
| HDCallbackCode HDCALLBACK | updateDeviceCallback (void *) |
| Checks the state of the gimbal button and gets the position of the device. | |
| HDCallbackCode HDCALLBACK | copyDeviceDataCallback (void *pUserData) |
| Copies the state of the gimbal button and the position of the device. | |
| int | initDevice () |
| Sets up the device, runs main application loop, cleans up when finished. | |
| int | uninitDevice () |
| Performs cleanup, unschedules callbacks and stops the servo loop. | |
| void | getData () |
| gets the latest data | |
Variables | |
| int | SensAbleClass |
| static DeviceData | gServoDeviceData |
| static DeviceData | deviceData |
| static HDSchedulerHandle | hUpdateHandle = 0 |
| static HDSchedulerHandle | hCallbackHandle = 0 |
| static HHD | hHD |
| HDErrorInfo | error |
| static volatile HDboolean | bRenderForce = false |
| static hduVector3Dd | force |
| static volatile HDboolean | bRenderPivot = false |
| static Vec3d | devicePivot |
| bool | isInitialized = false |
Function Documentation
| HDCallbackCode HDCALLBACK applyForceCallback | ( | void * | ) |
This routine allows the device to provide information about the current location of the stylus, and contains a mechanism for terminating the application.
Pressing the button causes the application to display the current location of the device. Holding the button down for N iterations causes the application to exit.
Definition at line 557 of file SensAble.cpp.
References bRenderForce, bRenderPivot, dot(), force, sofa::helper::Quater< Real >::fromMatrix(), DeviceData::m_buttonState1, DeviceData::m_buttonState2, DeviceData::m_devicePosition, DeviceData::m_error, sofa::defaulttype::Vec< N, real >::norm(), sofa::defaulttype::Vec< N, real >::normalize(), DeviceData::nupdates, DeviceData::quat, and DeviceData::transform.
Referenced by initDevice().
| HDCallbackCode HDCALLBACK copyDeviceDataCallback | ( | void * | pUserData | ) |
Copies the state of the gimbal button and the position of the device.
Definition at line 114 of file SensAble.cpp.
References sofa::helper::Quater< Real >::normalize(), DeviceData::nupdates, and DeviceData::quat.
Referenced by getData().
| void getData | ( | ) |
gets the latest data
Definition at line 179 of file SensAble.cpp.
References copyDeviceDataCallback().
Referenced by SensAble::draw().
| int initDevice | ( | ) |
Sets up the device, runs main application loop, cleans up when finished.
Definition at line 131 of file SensAble.cpp.
References applyForceCallback(), error, hCallbackHandle, hHD, DeviceData::quat, and DeviceData::transform.
Referenced by SensAble::SensAble().
| HDCallbackCode HDCALLBACK SetForceCallback | ( | void * | pUserData | ) |
Definition at line 723 of file SensAble.cpp.
References force.
Referenced by SensAble::updatePosition().
| int uninitDevice | ( | ) |
Performs cleanup, unschedules callbacks and stops the servo loop.
Definition at line 168 of file SensAble.cpp.
References hCallbackHandle, and hHD.
| HDCallbackCode HDCALLBACK updateDeviceCallback | ( | void * | ) |
Checks the state of the gimbal button and gets the position of the device.
Definition at line 89 of file SensAble.cpp.
References DeviceData::m_buttonState1, DeviceData::m_buttonState2, DeviceData::m_devicePosition, DeviceData::m_error, and DeviceData::transform.
Variable Documentation
volatile HDboolean bRenderForce = false [static] |
Definition at line 77 of file SensAble.cpp.
Referenced by applyForceCallback(), SensAble::handleEvent(), and SensAble::updatePosition().
volatile HDboolean bRenderPivot = false [static] |
Definition at line 79 of file SensAble.cpp.
Referenced by applyForceCallback(), SensAble::draw(), and SensAble::handleEvent().
DeviceData deviceData [static] |
Definition at line 69 of file SensAble.cpp.
Vec3d devicePivot [static] |
Definition at line 80 of file SensAble.cpp.
| HDErrorInfo error |
Definition at line 76 of file SensAble.cpp.
Referenced by TiXmlDocument::ClearError(), sofa::component::MechanicalObject< DataTypes >::compareV(), sofa::component::MechanicalObject< DataTypes >::compareX(), TiXmlDocument::Error(), sofa::helper::gaussSeidelLCP1(), sofa::component::collision::CarvingManager::init(), sofa::component::controller::initDevice(), initDevice(), sofa::simulation::tree::Simulation::load(), main(), sofa::helper::nlcp_gaussseidel(), sofa::helper::nlcp_gaussseidelTimed(), TiXmlDocument::SetError(), sofa::component::controller::stateCallback(), and TiXmlDocument::TiXmlDocument().
hduVector3Dd force [static] |
Definition at line 78 of file SensAble.cpp.
Referenced by sofa::component::forcefield::BeamFEMForceField< DataTypes >::accumulateForceLarge(), sofa::core::ObjectFactory::AddAlias(), sofa::component::forcefield::TriangularTensorMassForceField< DataTypes >::addDForce(), sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::addDForce(), sofa::component::forcefield::PenalityContactForceField< CudaVec3fTypes >::addForce(), sofa::component::interactionforcefield::RepulsiveSpringForceField< DataTypes >::addForce(), sofa::component::forcefield::VectorSpringForceField< DataTypes >::addForce(), sofa::component::forcefield::TriangularTensorMassForceField< DataTypes >::addForce(), sofa::component::forcefield::TriangularQuadraticSpringsForceField< DataTypes >::addForce(), sofa::component::forcefield::TriangularBiquadraticSpringsForceField< DataTypes >::addForce(), sofa::component::forcefield::TriangularBendingSprings< DataTypes >::addForce(), sofa::component::forcefield::TrianglePressureForceField< DataTypes >::addForce(), sofa::component::forcefield::TetrahedralTensorMassForceField< DataTypes >::addForce(), sofa::component::forcefield::SpringEdgeDataForceField< DataTypes >::addForce(), sofa::component::forcefield::SphereForceField< DataTypes >::addForce(), sofa::component::forcefield::QuadularBendingSprings< DataTypes >::addForce(), sofa::component::forcefield::PlaneForceField< DataTypes >::addForce(), sofa::component::forcefield::PenalityContactForceField< DataTypes >::addForce(), sofa::component::forcefield::LennardJonesForceField< DataTypes >::addForce(), sofa::component::forcefield::EllipsoidForceField< DataTypes >::addForce(), sofa::component::forcefield::EdgePressureForceField< DataTypes >::addForce(), sofa::component::forcefield::ConicalForceField< DataTypes >::addForce(), sofa::component::forcefield::StiffSpringForceField< DataTypes >::addSpringForce(), sofa::component::forcefield::SpringForceField< DataTypes >::addSpringForce(), sofa::component::forcefield::JointSpringForceField< DataTypes >::addSpringForce(), sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::applyContactForce(), sofa::component::constraint::PrecomputedConstraintCorrection< TDataTypes >::applyContactForce(), sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::applyContactForce(), applyForceCallback(), sofa::component::interactionforcefield::InteractionEllipsoidForceField< DataTypes1, DataTypes2 >::calcF(), sofa::component::odesolver::EulerKaapiSolver::computeAcc(), sofa::component::controller::LCPForceFeedback::computeForce(), sofa::component::constraint::PrecomputedConstraintCorrection< TDataTypes >::init(), sofa::component::constraint::UncoupledConstraintCorrection< TDataTypes >::resetContactForce(), sofa::component::constraint::PrecomputedConstraintCorrection< TDataTypes >::resetContactForce(), sofa::component::constraint::LinearSolverConstraintCorrection< TDataTypes >::resetContactForce(), SetForceCallback(), and SensAble::updatePosition().
DeviceData gServoDeviceData [static] |
Definition at line 68 of file SensAble.cpp.
HDSchedulerHandle hCallbackHandle = 0 [static] |
HHD hHD [static] |
HDSchedulerHandle hUpdateHandle = 0 [static] |
Definition at line 70 of file SensAble.cpp.
| bool isInitialized = false |
Definition at line 126 of file SensAble.cpp.
Initial value:
sofa::core::RegisterObject("Phantom device") .add< SensAble >()
Definition at line 54 of file SensAble.cpp.
