H3D::HLHapticsDevice Class Reference
[H3D specific Node classes.]

HLHapticsDevice is a haptics device that uses the HLAPI from SensAble to do the haptic rendering. More...

#include <HLHapticsDevice.h>

Inheritance diagram for H3D::HLHapticsDevice:

List of all members.

Public Types
typedef TypedSFNode< DeviceLog >	SFDeviceLog
Public Member Functions
	H3D_VALUE_EXCEPTION (string, CouldNotInitHapticsDevice)
	HLHapticsDevice (Inst< SFVec3f > _devicePosition=0, Inst< SFRotation > _deviceOrientation=0, Inst< TrackerPosition > _trackerPosition=0, Inst< TrackerOrientation > _trackerOrientation=0, Inst< PosCalibration > _positionCalibration=0, Inst< OrnCalibration > _orientationCalibration=0, Inst< SFVec3f > _proxyPosition=0, Inst< WeightedProxy > _weightedProxyPosition=0, Inst< SFFloat > _proxyWeighting=0, Inst< SFBool > _mainButton=0, Inst< SFVec3f > _force=0, Inst< SFVec3f > _torque=0, Inst< SFInt32 > _inputDOF=0, Inst< SFInt32 > _outputDOF=0, Inst< SFInt32 > _hapticsRate=0, Inst< SFNode > _stylus=0, Inst< SFBool > _initialized=0, Inst< SFString > _deviceName=0, Inst< SFBool > _secondaryButton=0, Inst< SFDeviceLog > _deviceLog=0)
	Construtor.
virtual	~HLHapticsDevice ()
	Destructor.
virtual void	preRender ()
	Starts a new haptic frame.
virtual void	postRender ()
	Ends the haptic frame.
virtual void	initDevice ()
	Does all the initialization needed for the device before starting to use it.
virtual void	initHLLayer ()
virtual void	resetDevice ()
	Reset the device.
virtual void	disableDevice ()
	Perform cleanup and let go of all device resources that are allocated.
virtual void	updateDeviceValues ()
	This function is used to transfer device values, such as position, button status etc from the realtime loop to the fields of HLHapticsDevice, and possible vice versa.
virtual void	renderShapes (const HapticShapeVector &shapes)
	Uses the HLAPI to render the objects.
virtual void	renderEffects (const HapticEffectVector &effects)
	Uses HLAPI to render the ForceEffects.
HapticEffectVector &	getCurrentForceEffects ()
	Returns the force effects to render in the realtime loop.
HapticEffectVector &	getLastForceEffects ()
	Returns the force effects that was rendered during last scene graph loop.
HHD	getDeviceHandle ()
	Returns the HD device handle for this device.
HHLRC	getHapticContext ()
	Returns the haptic context for this device.
Static Public Member Functions
static void HLCALLBACK	hlButtonCallback (HLenum event, HLuint object, HLenum thread, HLcache *cache, void *data)
Public Attributes
auto_ptr< SFString >	deviceName
	The name of the device.
auto_ptr< SFBool >	secondaryButton
	The status of the secondary button (if such a button exists).
auto_ptr< SFDeviceLog >	deviceLog
	Logging Node that can be used to log device position and orientation information to a binary file.
TimeStamp	last_effect_change
	The time for the last call to the changeForceEffects callback function.
TimeStamp	last_loop_time
	The time between the previous two calls to changeForceEffects.
AutoRef< DeviceLog >	log
	Realtime pointer to deviceLog.
Static Public Attributes
static H3DNodeDatabase	database
	The H3DNodeDatabase for this node.
Protected Attributes
HHD	device_handle
	The device handle used in the HLAPI.
HHLRC	haptic_context
	The HLAPI haptic context used by this device.
vector< HDCallbackCode >	hd_handles
	Handle for the callback for rendering ForceEffects.

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Detailed Description

HLHapticsDevice is a haptics device that uses the HLAPI from SensAble to do the haptic rendering.

Internal routes:

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Member Function Documentation

virtual void H3D::HLHapticsDevice::disableDevice (   )  [virtual]

Perform cleanup and let go of all device resources that are allocated. After a call to this function no haptic rendering can be performed on the device until the initDevice() function has been called again. Reimplemented from H3D::H3DHapticsDevice.

HapticEffectVector& H3D::HLHapticsDevice::getCurrentForceEffects (   )  [inline]

Returns the force effects to render in the realtime loop. Should not be called from the scenegraph loop.

HHLRC H3D::HLHapticsDevice::getHapticContext (   )  [inline]

Returns the haptic context for this device. Before rendering anything on this device this context must have been made active

HapticEffectVector& H3D::HLHapticsDevice::getLastForceEffects (   )  [inline]

Returns the force effects that was rendered during last scene graph loop. Should not be called from the scenegraph loop.

virtual void H3D::HLHapticsDevice::renderEffects (  const HapticEffectVector &  effects  )  [virtual]

Uses HLAPI to render the ForceEffects. Parameters: objects  The force effects to render.

virtual void H3D::HLHapticsDevice::renderShapes (  const HapticShapeVector &  shapes  )  [virtual]

Uses the HLAPI to render the objects. The objects given must be a subclass to HLObject in order to be rendered.

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Member Data Documentation

auto_ptr< SFDeviceLog > H3D::HLHapticsDevice::deviceLog

Logging Node that can be used to log device position and orientation information to a binary file. Access type: initializeOnly Default value: NONE

auto_ptr< SFString > H3D::HLHapticsDevice::deviceName

The name of the device. Access type: initializeOnly Default value: "Default PHANToM"

auto_ptr< SFBool > H3D::HLHapticsDevice::secondaryButton

The status of the secondary button (if such a button exists). true means that the button is pressed Access type: outputOnly Default value: false

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