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vrpn_ForceDevice.C 88.22 KiB
// Include vrpn_Shared.h _first_ to avoid conflicts with sys/time.h
// and unistd.h
#include <math.h> // for sqrt
#include <stdio.h> // for fprintf, stderr, NULL, etc
#include "vrpn_Connection.h" // for vrpn_Connection, etc
#include "vrpn_Shared.h" // for vrpn_buffer, vrpn_unbuffer, etc
#if defined(linux) || defined(__sparc) || defined(hpux) || defined(__GNUC__)
#include <string.h> // for memcpy
#endif
#include <quat.h> // for q_matrix_type, etc
#include "vrpn_ForceDevice.h"
/* cheezy hack to make sure this enum is defined in the case we didn't
include trimesh.h */
#ifndef TRIMESH_H
// the different types of trimeshes we have available for haptic display
enum TrimeshType { GHOST, HCOLLIDE };
#endif
#define CHECK(a) \
if (a == -1) return -1
#if 0
// c = a x b
static void vector_cross (const vrpn_float64 a [3], const vrpn_float64 b [3],
vrpn_float64 c [3]) {
c[0] = a[1] * b[2] - a[2] * b[1];
c[1] = a[2] * b[0] - a[0] * b[2];
c[2] = a[0] * b[1] - a[1] * b[0];
}
// vprime = v * T
static void rotate_vector (const vrpn_float64 v [3], const vrpn_float64 T [9],
vrpn_float64 vprime [3]) {
vprime[0] = v[0] * T[0] + v[1] * T[3] + v[2] * T[6];
vprime[1] = v[0] * T[1] + v[1] * T[4] + v[2] * T[7];
vprime[2] = v[0] * T[2] + v[1] * T[5] + v[2] * T[8];
}
static vrpn_float64 vector_dot (const vrpn_float64 a [3],
const vrpn_float64 b [3]) {
return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
}
#endif
vrpn_ForceDevice::vrpn_ForceDevice(const char *name, vrpn_Connection *c)
: vrpn_BaseClass(name, c)
{
vrpn_BaseClass::init();
// set the current time to zero
timestamp.tv_sec = 0;
timestamp.tv_usec = 0;
// set the force to zero
// d_force[0] = d_force[1] = d_force[2] = 0.0;
SurfaceKspring = 0.8f;
SurfaceFdynamic = 0.3f;
SurfaceFstatic = 0.7f;
SurfaceKdamping = 0.001f;
numRecCycles = 1;
errorCode = FD_OK;
SurfaceKadhesionNormal = 0.0001f;
SurfaceKadhesionLateral = 0.0002f;
SurfaceBuzzFreq = 0.0003f;
SurfaceBuzzAmp = 0.0004f;
SurfaceTextureWavelength = 0.01f;
SurfaceTextureAmplitude = 0.0005f;
// ajout ONDIM
customEffectId = -1;
customEffectParams = NULL;
nbCustomEffectParams = 0;
// fin ajout ONDIM
}
// ajout ONDIM
void vrpn_ForceDevice::setCustomEffect(vrpn_int32 effectId,
vrpn_float32 *params,
vrpn_uint32 nbParams)
{
customEffectId = effectId;
if (customEffectParams != NULL) {
delete[] customEffectParams;
}
customEffectParams = new vrpn_float32[nbParams];
memcpy(customEffectParams, params, sizeof(vrpn_float32) * nbParams);
nbCustomEffectParams = nbParams;
}
// fin ajout ondim
int vrpn_ForceDevice::register_types(void)
{
force_message_id =
d_connection->register_message_type("vrpn_ForceDevice Force");
forcefield_message_id =
d_connection->register_message_type("vrpn_ForceDevice Force_Field");
plane_message_id =
d_connection->register_message_type("vrpn_ForceDevice Plane");
plane_effects_message_id =
d_connection->register_message_type("vrpn_ForceDevice Plane2");
addObject_message_id =
d_connection->register_message_type("vrpn_ForceDevice addObject");
addObjectExScene_message_id = d_connection->register_message_type(
"vrpn_ForceDevice addObjectExScene");
moveToParent_message_id =
d_connection->register_message_type("vrpn_ForceDevice moveToParent");
setObjectPosition_message_id = d_connection->register_message_type(
"vrpn_ForceDevice setObjectPosition");
setObjectOrientation_message_id = d_connection->register_message_type(
"vrpn_ForceDevice setObjectOrientation");
setObjectScale_message_id =
d_connection->register_message_type("vrpn_ForceDevice setObjectScale");
removeObject_message_id =
d_connection->register_message_type("vrpn_ForceDevice removeObject");
setVertex_message_id =
d_connection->register_message_type("vrpn_ForceDevice setVertex");
setNormal_message_id =
d_connection->register_message_type("vrpn_ForceDevice setNormal");
setTriangle_message_id =
d_connection->register_message_type("vrpn_ForceDevice setTriangle");
removeTriangle_message_id =
d_connection->register_message_type("vrpn_ForceDevice removeTriangle");
updateTrimeshChanges_message_id = d_connection->register_message_type(
"vrpn_ForceDevice updateTrimeshChanges");
transformTrimesh_message_id = d_connection->register_message_type(
"vrpn_ForceDevice transformTrimesh");
setTrimeshType_message_id =
d_connection->register_message_type("vrpn_ForceDevice setTrimeshType");
clearTrimesh_message_id =
d_connection->register_message_type("vrpn_ForceDevice clearTrimesh");
setHapticOrigin_message_id =
d_connection->register_message_type("vrpn_ForceDevice setHapticOrigin");
setHapticScale_message_id =
d_connection->register_message_type("vrpn_ForceDevice setHapticScale");
setSceneOrigin_message_id =
d_connection->register_message_type("vrpn_ForceDevice setSceneOrigin");
getNewObjectID_message_id =
d_connection->register_message_type("vrpn_ForceDevice getNewObjectID");
setObjectIsTouchable_message_id = d_connection->register_message_type(
"vrpn_ForceDevice setObjectIsTouchable");
scp_message_id =
d_connection->register_message_type("vrpn_ForceDevice SCP");
error_message_id =
d_connection->register_message_type("vrpn_ForceDevice Force_Error");
enableConstraint_message_id = d_connection->register_message_type(
"vrpn_ForceDevice constraint_enable");
setConstraintMode_message_id =
d_connection->register_message_type("vrpn_ForceDevice constraint_mode");
setConstraintPoint_message_id = d_connection->register_message_type(
"vrpn_ForceDevice constraint_point");
setConstraintLinePoint_message_id = d_connection->register_message_type(
"vrpn_ForceDevice constraint_linept");
setConstraintLineDirection_message_id = d_connection->register_message_type(
"vrpn_ForceDevice constraint_linedir");
setConstraintPlanePoint_message_id =
d_connection->register_message_type("vrpn_ForceDevice constraint_plpt");
setConstraintPlaneNormal_message_id = d_connection->register_message_type(
"vrpn_ForceDevice constraint_plnorm");
setConstraintKSpring_message_id = d_connection->register_message_type(
"vrpn_ForceDevice constraint_KSpring");
// ajout ONDIM
custom_effect_message_id =
d_connection->register_message_type("vrpn_ForceDevice Custom Effect");
// fin ajout ONDIM
return 0;
}
// virtual
vrpn_ForceDevice::~vrpn_ForceDevice(void)
{
if (customEffectParams != NULL) {
delete[] customEffectParams;
}
}
void vrpn_ForceDevice::print_plane(void)
{
printf("plane: %f, %f, %f, %f\n", plane[0], plane[1], plane[2], plane[3]);
}
void vrpn_ForceDevice::print_report(void)
{
// Nothing sets d_force any more!
printf("Timestamp:%ld:%ld\n", timestamp.tv_sec,
static_cast<long>(timestamp.tv_usec));
// printf("Force :%lf, %lf, %lf\n", d_force[0],d_force[1],d_force[2]);
}
// static
char *vrpn_ForceDevice::encode_force(vrpn_int32 &length,
const vrpn_float64 *force)
{
// Message includes: vrpn_float64 force[3]
// Byte order of each needs to be reversed to match network standard
int i; char *buf;
char *mptr;
vrpn_int32 mlen;
length = 3 * sizeof(vrpn_float64);
mlen = length;
buf = new char[length];
mptr = buf;
// Move the force there
for (i = 0; i < 3; i++) {
vrpn_buffer(&mptr, &mlen, force[i]);
}
return buf;
}
// static
vrpn_int32 vrpn_ForceDevice::decode_force(const char *buffer,
const vrpn_int32 len,
vrpn_float64 *force)
{
int i;
const char *mptr = buffer;
if (len != (3 * sizeof(vrpn_float64))) {
fprintf(stderr, "vrpn_ForceDevice: force message payload error\n");
fprintf(stderr, " (got %d, expected %lud)\n", len,
static_cast<unsigned long>(3 * sizeof(vrpn_float64)));
return -1;
}
for (i = 0; i < 3; i++)
CHECK(vrpn_unbuffer(&mptr, &(force[i])));
return 0;
}
// ajout ONDIM
char *vrpn_ForceDevice::encode_custom_effect(vrpn_int32 &len,
vrpn_uint32 effectId,
const vrpn_float32 *params,
vrpn_uint32 nbParams)
{
char *buf;
char *mptr;
vrpn_int32 mlen;
len = sizeof(vrpn_uint32) * 2 + nbParams * sizeof(vrpn_float32);
mlen = len;
buf = new char[len];
mptr = buf;
vrpn_buffer(&mptr, &mlen, effectId);
vrpn_buffer(&mptr, &mlen, nbParams);
for (unsigned int i = 0; i < nbParams; i++) {
vrpn_buffer(&mptr, &mlen, params[i]);
}
return buf;
}
// static
vrpn_int32 vrpn_ForceDevice::decode_custom_effect(const char *buffer,
const vrpn_int32 len,
vrpn_uint32 *effectId,
vrpn_float32 **params, vrpn_uint32 *nbParams)
{
const char *mptr = buffer;
// OutputDebugString("decoding custom effect\n");
if (static_cast<size_t>(len) < (sizeof(vrpn_uint32) * 2)) {
fprintf(stderr,
"vrpn_ForceDevice: custom effect message payload error\n");
fprintf(stderr, " (got %d, expected at least %lud)\n", len,
static_cast<unsigned long>(2 * sizeof(vrpn_uint32)));
return -1;
}
CHECK(vrpn_unbuffer(&mptr, effectId));
CHECK(vrpn_unbuffer(&mptr, nbParams));
if ((vrpn_uint32)(len) <
(2 * sizeof(vrpn_uint32) + (*nbParams) * sizeof(vrpn_float32))) {
fprintf(stderr,
"vrpn_ForceDevice: custom effect message payload error\n");
fprintf(stderr, " (got %d, expected at least %lud)\n", len,
static_cast<unsigned long>(2 * sizeof(vrpn_uint32) +
(*nbParams) * sizeof(vrpn_float32)));
return -2;
}
if (*params != NULL) delete[] * params;
*params = new vrpn_float32[(*nbParams)];
for (vrpn_uint32 i = 0; i < (*nbParams); i++) {
CHECK(vrpn_unbuffer(&mptr, &((*params)[i])));
}
return 0;
}
// fin ajout ONDIM
// static
char *vrpn_ForceDevice::encode_scp(vrpn_int32 &length, const vrpn_float64 *pos,
const vrpn_float64 *quat)
{
int i;
char *buf;
char *mptr;
vrpn_int32 mlen;
length = 7 * sizeof(vrpn_float64);
mlen = length;
buf = new char[length];
mptr = buf;
for (i = 0; i < 3; i++) {
vrpn_buffer(&mptr, &mlen, pos[i]);
}
for (i = 0; i < 4; i++) {
vrpn_buffer(&mptr, &mlen, quat[i]);
}
return buf;
}
// static
vrpn_int32 vrpn_ForceDevice::decode_scp(const char *buffer,
const vrpn_int32 len, vrpn_float64 *pos,
vrpn_float64 *quat)
{
int i;
const char *mptr = buffer; int desiredLen = 7 * sizeof(vrpn_float64);
if (len != desiredLen) {
fprintf(stderr, "vrpn_ForceDevice: scp message payload error\n");
fprintf(stderr, " (got %d, expected %d)\n", len,
desiredLen);
return -1;
}
for (i = 0; i < 3; i++)
CHECK(vrpn_unbuffer(&mptr, &(pos[i])));
for (i = 0; i < 4; i++)
CHECK(vrpn_unbuffer(&mptr, &(quat[i])));
return 0;
}
// static
char *vrpn_ForceDevice::encode_plane(
vrpn_int32 &len, const vrpn_float32 *plane, const vrpn_float32 kspring,
const vrpn_float32 kdamp, const vrpn_float32 fdyn, const vrpn_float32 fstat,
const vrpn_int32 plane_index, const vrpn_int32 n_rec_cycles)
{
// Message includes: vrpn_float32 plane[4],
int i;
char *buf;
char *mptr;
vrpn_int32 mlen;
len = 8 * sizeof(vrpn_float32) + 2 * sizeof(vrpn_int32);
mlen = len;
buf = new char[len];
mptr = buf;
for (i = 0; i < 4; i++) {
vrpn_buffer(&mptr, &mlen, plane[i]);
}
vrpn_buffer(&mptr, &mlen, kspring);
vrpn_buffer(&mptr, &mlen, kdamp);
vrpn_buffer(&mptr, &mlen, fdyn);
vrpn_buffer(&mptr, &mlen, fstat);
vrpn_buffer(&mptr, &mlen, plane_index);
vrpn_buffer(&mptr, &mlen, n_rec_cycles);
return buf;
}
// static
vrpn_int32 vrpn_ForceDevice::decode_plane(
const char *buffer, const vrpn_int32 len, vrpn_float32 *plane,
vrpn_float32 *kspring, vrpn_float32 *kdamp, vrpn_float32 *fdyn,
vrpn_float32 *fstat, vrpn_int32 *plane_index, vrpn_int32 *n_rec_cycles)
{
int i;
const char *mptr = buffer;
if (len != 8 * sizeof(vrpn_float32) + 2 * sizeof(vrpn_int32)) {
fprintf(stderr, "vrpn_ForceDevice: plane message payload error\n");
fprintf(stderr, " (got %d, expected %lud)\n", len,
static_cast<unsigned long>(8 * sizeof(vrpn_float32) +
2 * sizeof(vrpn_int32)));
return -1;
}
for (i = 0; i < 4; i++)
CHECK(vrpn_unbuffer(&mptr, &(plane[i])));
CHECK(vrpn_unbuffer(&mptr, kspring)); CHECK(vrpn_unbuffer(&mptr, kdamp));
CHECK(vrpn_unbuffer(&mptr, fdyn));
CHECK(vrpn_unbuffer(&mptr, fstat));
CHECK(vrpn_unbuffer(&mptr, plane_index));
CHECK(vrpn_unbuffer(&mptr, n_rec_cycles));
return 0;
}
// static
char *vrpn_ForceDevice::encode_surface_effects(
vrpn_int32 &len, const vrpn_float32 k_adhesion_normal,
const vrpn_float32 k_adhesion_lateral, const vrpn_float32 tex_amp,
const vrpn_float32 tex_wl, const vrpn_float32 buzz_amp,
const vrpn_float32 buzz_freq)
{
char *buf;
char *mptr;
vrpn_int32 mlen;
len = 6 * sizeof(vrpn_float32);
mlen = len;
buf = new char[len];
mptr = buf;
vrpn_buffer(&mptr, &mlen, k_adhesion_normal);
vrpn_buffer(&mptr, &mlen, k_adhesion_lateral);
vrpn_buffer(&mptr, &mlen, tex_amp);
vrpn_buffer(&mptr, &mlen, tex_wl);
vrpn_buffer(&mptr, &mlen, buzz_amp);
vrpn_buffer(&mptr, &mlen, buzz_freq);
return buf;
}
// static
vrpn_int32 vrpn_ForceDevice::decode_surface_effects(
const char *buffer, const vrpn_int32 len, vrpn_float32 *k_adhesion_normal,
vrpn_float32 *k_adhesion_lateral, vrpn_float32 *tex_amp,
vrpn_float32 *tex_wl, vrpn_float32 *buzz_amp, vrpn_float32 *buzz_freq)
{
const char *mptr = buffer;
if (len != 6 * sizeof(vrpn_float32)) {
fprintf(stderr, "vrpn_ForceDevice: surface effects message payload ");
fprintf(stderr, "error\n (got %d, expected %lud)\n", len,
static_cast<unsigned long>(6 * sizeof(vrpn_float32)));
return -1;
}
CHECK(vrpn_unbuffer(&mptr, k_adhesion_normal));
CHECK(vrpn_unbuffer(&mptr, k_adhesion_lateral));
CHECK(vrpn_unbuffer(&mptr, tex_amp));
CHECK(vrpn_unbuffer(&mptr, tex_wl));
CHECK(vrpn_unbuffer(&mptr, buzz_amp));
CHECK(vrpn_unbuffer(&mptr, buzz_freq));
return 0;
}
// static
char *vrpn_ForceDevice::encode_vertex(vrpn_int32 &len, const vrpn_int32 objNum,
const vrpn_int32 vertNum,
const vrpn_float32 x,
const vrpn_float32 y,
const vrpn_float32 z)
{
char *buf;
char *mptr;
vrpn_int32 mlen;
len = sizeof(objNum) + sizeof(vertNum) + 3 * sizeof(vrpn_float32);
mlen = len;
buf = new char[len];
mptr = buf;
vrpn_buffer(&mptr, &mlen, objNum);
vrpn_buffer(&mptr, &mlen, vertNum);
vrpn_buffer(&mptr, &mlen, x);
vrpn_buffer(&mptr, &mlen, y);
vrpn_buffer(&mptr, &mlen, z);
return buf;
}
// static
vrpn_int32 vrpn_ForceDevice::decode_vertex(const char *buffer,
const vrpn_int32 len,
vrpn_int32 *objNum,
vrpn_int32 *vertNum, vrpn_float32 *x,
vrpn_float32 *y, vrpn_float32 *z)
{
const char *mptr = buffer;
if (len != (sizeof(objNum) + sizeof(vertNum) + 3 * sizeof(vrpn_float32))) {
fprintf(stderr, "vrpn_ForceDevice: vertex message payload error\n");
fprintf(stderr, " (got %d, expected %lud)\n", len,
static_cast<unsigned long>(sizeof(objNum) + sizeof(vertNum) +
3 * sizeof(vrpn_float32)));
return -1;
}
CHECK(vrpn_unbuffer(&mptr, objNum));
CHECK(vrpn_unbuffer(&mptr, vertNum));
CHECK(vrpn_unbuffer(&mptr, x));
CHECK(vrpn_unbuffer(&mptr, y));
CHECK(vrpn_unbuffer(&mptr, z));
return 0;
}
// static
char *vrpn_ForceDevice::encode_normal(vrpn_int32 &len, const vrpn_int32 objNum,
const vrpn_int32 normNum,
const vrpn_float32 x,
const vrpn_float32 y,
const vrpn_float32 z)
{
char *buf;
char *mptr;
vrpn_int32 mlen;
len = sizeof(vrpn_int32) + sizeof(vrpn_int32) + 3 * sizeof(vrpn_float32);
mlen = len;
buf = new char[len];
mptr = buf;
vrpn_buffer(&mptr, &mlen, objNum);
vrpn_buffer(&mptr, &mlen, normNum);
vrpn_buffer(&mptr, &mlen, x);
vrpn_buffer(&mptr, &mlen, y);
vrpn_buffer(&mptr, &mlen, z);
return buf;}
// static
vrpn_int32 vrpn_ForceDevice::decode_normal(const char *buffer,
const vrpn_int32 len,
vrpn_int32 *objNum,
vrpn_int32 *vertNum, vrpn_float32 *x,
vrpn_float32 *y, vrpn_float32 *z)
{
const char *mptr = buffer;
if (len !=
(sizeof(vrpn_int32) + sizeof(vrpn_int32) + 3 * sizeof(vrpn_float32))) {
fprintf(stderr, "vrpn_ForceDevice: normal message payload error\n");
fprintf(stderr, " (got %d, expected %lud)\n", len,
static_cast<unsigned long>(sizeof(vrpn_int32) +
sizeof(vrpn_int32) +
3 * sizeof(vrpn_float32)));
return -1;
}
CHECK(vrpn_unbuffer(&mptr, objNum));
CHECK(vrpn_unbuffer(&mptr, vertNum));
CHECK(vrpn_unbuffer(&mptr, x));
CHECK(vrpn_unbuffer(&mptr, y));
CHECK(vrpn_unbuffer(&mptr, z));
return 0;
}
// static
char *vrpn_ForceDevice::encode_triangle(
vrpn_int32 &len, const vrpn_int32 objNum, const vrpn_int32 triNum,
const vrpn_int32 vert0, const vrpn_int32 vert1, const vrpn_int32 vert2,
const vrpn_int32 norm0, const vrpn_int32 norm1, const vrpn_int32 norm2)
{
char *buf;
char *mptr;
vrpn_int32 mlen;
len = sizeof(vrpn_int32) + 7 * sizeof(vrpn_int32);
mlen = len;
buf = new char[len];
mptr = buf;
vrpn_buffer(&mptr, &mlen, objNum);
vrpn_buffer(&mptr, &mlen, triNum);
vrpn_buffer(&mptr, &mlen, vert0);
vrpn_buffer(&mptr, &mlen, vert1);
vrpn_buffer(&mptr, &mlen, vert2);
vrpn_buffer(&mptr, &mlen, norm0);
vrpn_buffer(&mptr, &mlen, norm1);
vrpn_buffer(&mptr, &mlen, norm2);
return buf;
}
// static
vrpn_int32 vrpn_ForceDevice::decode_triangle(
const char *buffer, const vrpn_int32 len, vrpn_int32 *objNum,
vrpn_int32 *triNum, vrpn_int32 *vert0, vrpn_int32 *vert1, vrpn_int32 *vert2,
vrpn_int32 *norm0, vrpn_int32 *norm1, vrpn_int32 *norm2)
{
const char *mptr = buffer;
if (len != (sizeof(vrpn_int32) + 7 * sizeof(vrpn_int32))) {
fprintf(stderr, "vrpn_ForceDevice: triangle message payload error\n");
fprintf(stderr, " (got %d, expected %lud)\n", len, static_cast<unsigned long>(sizeof(vrpn_int32) +
7 * sizeof(vrpn_int32)));
return -1;
}
CHECK(vrpn_unbuffer(&mptr, objNum));
CHECK(vrpn_unbuffer(&mptr, triNum));
CHECK(vrpn_unbuffer(&mptr, vert0));
CHECK(vrpn_unbuffer(&mptr, vert1));
CHECK(vrpn_unbuffer(&mptr, vert2));
CHECK(vrpn_unbuffer(&mptr, norm0));
CHECK(vrpn_unbuffer(&mptr, norm1));
CHECK(vrpn_unbuffer(&mptr, norm2));
return 0;
}
// static
char *vrpn_ForceDevice::encode_removeTriangle(vrpn_int32 &len,
const vrpn_int32 objNum,
const vrpn_int32 triNum)
{
char *buf;
char *mptr;
vrpn_int32 mlen;
len = sizeof(vrpn_int32) + sizeof(vrpn_int32);
mlen = len;
buf = new char[len];
mptr = buf;
vrpn_buffer(&mptr, &mlen, objNum);
vrpn_buffer(&mptr, &mlen, triNum);
return buf;
}
// static
vrpn_int32 vrpn_ForceDevice::decode_removeTriangle(const char *buffer,
const vrpn_int32 len,
vrpn_int32 *objNum,
vrpn_int32 *triNum)
{
const char *mptr = buffer;
if (len != (sizeof(vrpn_int32) + sizeof(vrpn_int32))) {
fprintf(stderr, "vrpn_ForceDevice: remove triangle message payload");
fprintf(stderr, " error\n (got %d, expected %lud)\n", len,
static_cast<unsigned long>(sizeof(vrpn_int32) +
sizeof(vrpn_int32)));
return -1;
}
CHECK(vrpn_unbuffer(&mptr, objNum));
CHECK(vrpn_unbuffer(&mptr, triNum));
return 0;
}
// static
// this is where we send down our surface parameters
char *vrpn_ForceDevice::encode_updateTrimeshChanges(
vrpn_int32 &len, const vrpn_int32 objNum, const vrpn_float32 kspring,
const vrpn_float32 kdamp, const vrpn_float32 fstat, const vrpn_float32 fdyn)
{
char *buf;
char *mptr; vrpn_int32 mlen;
len = sizeof(vrpn_int32) + 4 * sizeof(vrpn_float32);
mlen = len;
buf = new char[len];
mptr = buf;
vrpn_buffer(&mptr, &mlen, objNum);
vrpn_buffer(&mptr, &mlen, kspring);
vrpn_buffer(&mptr, &mlen, kdamp);
vrpn_buffer(&mptr, &mlen, fstat);
vrpn_buffer(&mptr, &mlen, fdyn);
return buf;
}
// static
vrpn_int32 vrpn_ForceDevice::decode_updateTrimeshChanges(
const char *buffer, const vrpn_int32 len, vrpn_int32 *objNum,
vrpn_float32 *kspring, vrpn_float32 *kdamp, vrpn_float32 *fstat,
vrpn_float32 *fdyn)
{
const char *mptr = buffer;
if (len != (sizeof(vrpn_int32) + 4 * sizeof(vrpn_float32))) {
fprintf(stderr, "vrpn_ForceDevice: update trimesh message payload");
fprintf(stderr, " error\n (got %d, expected %lud)\n", len,
static_cast<unsigned long>(sizeof(vrpn_int32) +
4 * sizeof(vrpn_float32)));
return -1;
}
CHECK(vrpn_unbuffer(&mptr, objNum));
CHECK(vrpn_unbuffer(&mptr, kspring));
CHECK(vrpn_unbuffer(&mptr, kdamp));
CHECK(vrpn_unbuffer(&mptr, fstat));
CHECK(vrpn_unbuffer(&mptr, fdyn));
return 0;
}
// static
char *vrpn_ForceDevice::encode_setTrimeshType(vrpn_int32 &len,
const vrpn_int32 objNum,
const vrpn_int32 type)
{
char *buf;
char *mptr;
vrpn_int32 mlen;
len = sizeof(vrpn_int32) + sizeof(vrpn_int32);
mlen = len;
buf = new char[len];
mptr = buf;
vrpn_buffer(&mptr, &mlen, objNum);
vrpn_buffer(&mptr, &mlen, type);
return buf;
}
// static
vrpn_int32 vrpn_ForceDevice::decode_setTrimeshType(const char *buffer,
const vrpn_int32 len,
vrpn_int32 *objNum,
vrpn_int32 *type){
const char *mptr = buffer;
if (len != (sizeof(vrpn_int32) + sizeof(vrpn_int32))) {
fprintf(stderr, "vrpn_ForceDevice: trimesh type message payload");
fprintf(stderr, " error\n (got %d, expected %lud)\n", len,
static_cast<unsigned long>(sizeof(vrpn_int32) +
sizeof(vrpn_int32)));
return -1;
}
CHECK(vrpn_unbuffer(&mptr, objNum));
CHECK(vrpn_unbuffer(&mptr, type));
return 0;
}
// static
char *vrpn_ForceDevice::encode_trimeshTransform(
vrpn_int32 &len, const vrpn_int32 objNum, const vrpn_float32 homMatrix[16])
{
int i;
char *buf;
char *mptr;
vrpn_int32 mlen;
len = sizeof(vrpn_int32) + 16 * sizeof(vrpn_float32);
mlen = len;
buf = new char[len];
mptr = buf;
vrpn_buffer(&mptr, &mlen, objNum);
for (i = 0; i < 16; i++)
vrpn_buffer(&mptr, &mlen, homMatrix[i]);
return buf;
}
// static
vrpn_int32 vrpn_ForceDevice::decode_trimeshTransform(const char *buffer,
const vrpn_int32 len,
vrpn_int32 *objNum,
vrpn_float32 homMatrix[16])
{
int i;
const char *mptr = buffer;
if (len != (sizeof(vrpn_int32) + 16 * sizeof(vrpn_float32))) {
fprintf(stderr, "vrpn_ForceDevice: trimesh transform message payload ");
fprintf(stderr, "error\n (got %d, expected %lud)\n", len,
static_cast<unsigned long>(sizeof(vrpn_int32) +
16 * sizeof(vrpn_float32)));
return -1;
}
CHECK(vrpn_unbuffer(&mptr, objNum));
for (i = 0; i < 16; i++)
CHECK(vrpn_unbuffer(&mptr, &(homMatrix[i])));
return 0;
}
char *vrpn_ForceDevice::encode_addObject(vrpn_int32 &len,
const vrpn_int32 objNum,
const vrpn_int32 ParentNum)
{
char *buf;
char *mptr; vrpn_int32 mlen;
len = 2 * sizeof(vrpn_int32);
mlen = len;
buf = new char[len];
mptr = buf;
vrpn_buffer(&mptr, &mlen, objNum);
vrpn_buffer(&mptr, &mlen, ParentNum);
return buf;
}
vrpn_int32 vrpn_ForceDevice::decode_addObject(const char *buffer,
vrpn_int32 len,
vrpn_int32 *objNum,
vrpn_int32 *ParentNum)
{
const char *mptr = buffer;
if (len != 2 * sizeof(vrpn_int32)) {
fprintf(stderr, "vrpn_ForceDevice: add object message payload ");
fprintf(stderr, "error\n (got %d, expected %lud)\n", len,
static_cast<unsigned long>(2 * sizeof(vrpn_int32)));
return -1;
}
CHECK(vrpn_unbuffer(&mptr, objNum));
CHECK(vrpn_unbuffer(&mptr, ParentNum));
return 0;
}
char *vrpn_ForceDevice::encode_addObjectExScene(vrpn_int32 &len,
const vrpn_int32 objNum)
{
char *buf;
char *mptr;
vrpn_int32 mlen;
len = sizeof(objNum);
mlen = len;
buf = new char[len];
mptr = buf;
vrpn_buffer(&mptr, &mlen, objNum);
return buf;
}
vrpn_int32 vrpn_ForceDevice::decode_addObjectExScene(const char *buffer,
vrpn_int32 len,
vrpn_int32 *objNum)
{
const char *mptr = buffer;
if (len != sizeof(vrpn_int32)) {
fprintf(stderr, "vrpn_ForceDevice: add object message payload ");
fprintf(stderr, "error\n (got %d, expected %lud)\n", len,
static_cast<unsigned long>(sizeof(vrpn_int32)));
return -1;
}
CHECK(vrpn_unbuffer(&mptr, objNum));
return 0;
}
char *vrpn_ForceDevice::encode_objectPosition(vrpn_int32 &len,
const vrpn_int32 objNum,
const vrpn_float32 Pos[3])
{
char *buf;
char *mptr;
vrpn_int32 mlen;
len = sizeof(vrpn_int32) + 3 * sizeof(vrpn_float32);
mlen = len;
buf = new char[len];
mptr = buf;
vrpn_buffer(&mptr, &mlen, objNum);
vrpn_buffer(&mptr, &mlen, Pos[0]);
vrpn_buffer(&mptr, &mlen, Pos[1]);
vrpn_buffer(&mptr, &mlen, Pos[2]);
return buf;
}
vrpn_int32 vrpn_ForceDevice::decode_objectPosition(const char *buffer,
vrpn_int32 len,
vrpn_int32 *objNum,
vrpn_float32 Pos[3])
{
const char *mptr = buffer;
if (len != (sizeof(vrpn_int32) + 3 * sizeof(vrpn_float32))) {
fprintf(stderr, "vrpn_ForceDevice: object position message payload ");
fprintf(stderr, "error\n (got %d, expected %lud)\n", len,
static_cast<unsigned long>(sizeof(vrpn_int32) +
3 * sizeof(vrpn_float32)));
return -1;
}
CHECK(vrpn_unbuffer(&mptr, objNum));
CHECK(vrpn_unbuffer(&mptr, &Pos[0]));
CHECK(vrpn_unbuffer(&mptr, &Pos[1]));
CHECK(vrpn_unbuffer(&mptr, &Pos[2]));
return 0;
}
char *vrpn_ForceDevice::encode_objectOrientation(vrpn_int32 &len,
const vrpn_int32 objNum,
const vrpn_float32 axis[3],
const vrpn_float32 angle)
{
char *buf;
char *mptr;
vrpn_int32 mlen;
len = sizeof(vrpn_int32) + 4 * sizeof(vrpn_float32);
mlen = len;
buf = new char[len];
mptr = buf;
vrpn_buffer(&mptr, &mlen, objNum);
vrpn_buffer(&mptr, &mlen, axis[0]);
vrpn_buffer(&mptr, &mlen, axis[1]);
vrpn_buffer(&mptr, &mlen, axis[2]);
vrpn_buffer(&mptr, &mlen, angle);
return buf;
}
vrpn_int32 vrpn_ForceDevice::decode_objectOrientation(const char *buffer, vrpn_int32 len,
vrpn_int32 *objNum,
vrpn_float32 axis[3],
vrpn_float32 *angle)
{
const char *mptr = buffer;
if (len != (sizeof(vrpn_int32) + 4 * sizeof(vrpn_float32))) {
fprintf(stderr,
"vrpn_ForceDevice: object orientation message payload ");
fprintf(stderr, "error\n (got %d, expected %lud)\n", len,
static_cast<unsigned long>(sizeof(vrpn_int32) +
4 * sizeof(vrpn_float32)));
return -1;
}
CHECK(vrpn_unbuffer(&mptr, objNum));
CHECK(vrpn_unbuffer(&mptr, &axis[0]));
CHECK(vrpn_unbuffer(&mptr, &axis[1]));
CHECK(vrpn_unbuffer(&mptr, &axis[2]));
CHECK(vrpn_unbuffer(&mptr, angle));
return 0;
}
char *vrpn_ForceDevice::encode_objectScale(vrpn_int32 &len,
const vrpn_int32 objNum,
const vrpn_float32 Scale[3])
{
char *buf;
char *mptr;
vrpn_int32 mlen;
len = sizeof(vrpn_int32) + 3 * sizeof(vrpn_float32);
mlen = len;
buf = new char[len];
mptr = buf;
vrpn_buffer(&mptr, &mlen, objNum);
vrpn_buffer(&mptr, &mlen, Scale[0]);
vrpn_buffer(&mptr, &mlen, Scale[1]);
vrpn_buffer(&mptr, &mlen, Scale[2]);
return buf;
}
vrpn_int32 vrpn_ForceDevice::decode_objectScale(const char *buffer,
vrpn_int32 len,
vrpn_int32 *objNum,
vrpn_float32 Scale[3])
{
const char *mptr = buffer;
if (len != (sizeof(vrpn_int32) + 3 * sizeof(vrpn_float32))) {
fprintf(stderr, "vrpn_ForceDevice: object scale message payload ");
fprintf(stderr, "error\n (got %d, expected %lud)\n", len,
static_cast<unsigned long>(sizeof(vrpn_int32) +
3 * sizeof(vrpn_float32)));
return -1;
}
CHECK(vrpn_unbuffer(&mptr, objNum));
CHECK(vrpn_unbuffer(&mptr, &Scale[0]));
CHECK(vrpn_unbuffer(&mptr, &Scale[1]));
CHECK(vrpn_unbuffer(&mptr, &Scale[2]));
return 0;
}
char *vrpn_ForceDevice::encode_removeObject(vrpn_int32 &len,
const vrpn_int32 objNum)
{
char *buf;
char *mptr;
vrpn_int32 mlen;
len = sizeof(vrpn_int32);
mlen = len;
buf = new char[len];
mptr = buf;
vrpn_buffer(&mptr, &mlen, objNum);
return buf;
}
vrpn_int32 vrpn_ForceDevice::decode_removeObject(const char *buffer,
vrpn_int32 len,
vrpn_int32 *objNum)
{
const char *mptr = buffer;
if (len != sizeof(vrpn_int32)) {
fprintf(stderr, "vrpn_ForceDevice: remove object message payload ");
fprintf(stderr, "error\n (got %d, expected %lud)\n", len,
static_cast<unsigned long>(sizeof(vrpn_int32)));
return -1;
}
CHECK(vrpn_unbuffer(&mptr, objNum));
return 0;
}
char *vrpn_ForceDevice::encode_clearTrimesh(vrpn_int32 &len,
const vrpn_int32 objNum)
{
char *buf;
char *mptr;
vrpn_int32 mlen;
len = sizeof(vrpn_int32);
mlen = len;
buf = new char[len];
mptr = buf;
vrpn_buffer(&mptr, &mlen, objNum);
return buf;
}
vrpn_int32 vrpn_ForceDevice::decode_clearTrimesh(const char *buffer,
vrpn_int32 len,
vrpn_int32 *objNum)
{
const char *mptr = buffer;
if (len != sizeof(vrpn_int32)) {
fprintf(stderr, "vrpn_ForceDevice: clear TriMesh message payload ");
fprintf(stderr, "error\n (got %d, expected %lud)\n", len,
static_cast<unsigned long>(sizeof(vrpn_int32)));
return -1;
}
CHECK(vrpn_unbuffer(&mptr, objNum));
return 0;}
char *vrpn_ForceDevice::encode_moveToParent(vrpn_int32 &len,
const vrpn_int32 objNum,
const vrpn_int32 parentNum)
{
char *buf;
char *mptr;
vrpn_int32 mlen;
len = sizeof(vrpn_int32) + sizeof(vrpn_int32);
mlen = len;
buf = new char[len];
mptr = buf;
vrpn_buffer(&mptr, &mlen, objNum);
vrpn_buffer(&mptr, &mlen, parentNum);
return buf;
}
vrpn_int32 vrpn_ForceDevice::decode_moveToParent(const char *buffer,
vrpn_int32 len,
vrpn_int32 *objNum,
vrpn_int32 *parentNum)
{
const char *mptr = buffer;
if (len != (sizeof(vrpn_int32) + sizeof(vrpn_int32))) {
fprintf(stderr,
"vrpn_ForceDevice: move object to parent message payload ");
fprintf(stderr, "error\n (got %d, expected %lud)\n", len,
static_cast<unsigned long>(sizeof(vrpn_int32) +
sizeof(vrpn_int32)));
return -1;
}
CHECK(vrpn_unbuffer(&mptr, objNum));
CHECK(vrpn_unbuffer(&mptr, parentNum));
return 0;
}
char *vrpn_ForceDevice::encode_setHapticOrigin(vrpn_int32 &len,
const vrpn_float32 Pos[3],
const vrpn_float32 axis[3],
const vrpn_float32 angle)
{
int i;
char *buf;
char *mptr;
vrpn_int32 mlen;
len = 7 * sizeof(vrpn_float32);
mlen = len;
buf = new char[len];
mptr = buf;
for (i = 0; i < 3; i++)
vrpn_buffer(&mptr, &mlen, Pos[i]);
for (i = 0; i < 3; i++)
vrpn_buffer(&mptr, &mlen, axis[i]);
vrpn_buffer(&mptr, &mlen, angle);
return buf;
}
vrpn_int32 vrpn_ForceDevice::decode_setHapticOrigin(const char *buffer,
vrpn_int32 len,
vrpn_float32 Pos[3],
vrpn_float32 axis[3],
vrpn_float32 *angle)
{
int i;
const char *mptr = buffer;
if (len != 7 * sizeof(vrpn_int32)) {
fprintf(stderr,
"vrpn_ForceDevice: sethapticorigin message payload error\n");
fprintf(stderr, " (got %d, expected %lud)\n", len,
static_cast<unsigned long>(7 * sizeof(vrpn_int32)));
return -1;
}
for (i = 0; i < 3; i++)
CHECK(vrpn_unbuffer(&mptr, &Pos[i]));
for (i = 0; i < 3; i++)
CHECK(vrpn_unbuffer(&mptr, &axis[i]));
CHECK(vrpn_unbuffer(&mptr, angle));
return 0;
}
char *vrpn_ForceDevice::encode_setHapticScale(vrpn_int32 &len,
const vrpn_float32 scale)
{
char *buf;
char *mptr;
vrpn_int32 mlen;
len = sizeof(vrpn_float32);
mlen = len;
buf = new char[len];
mptr = buf;
vrpn_buffer(&mptr, &mlen, scale);
return buf;
}
vrpn_int32 vrpn_ForceDevice::decode_setHapticScale(const char *buffer,
vrpn_int32 len,
vrpn_float32 *scale)
{
const char *mptr = buffer;
if (len != sizeof(vrpn_float32)) {
fprintf(stderr,
"vrpn_ForceDevice: sethapticscale message payload error\n");
fprintf(stderr, " (got %d, expected %lud)\n", len,
static_cast<unsigned long>(7 * sizeof(vrpn_float32)));
return -1;
}
CHECK(vrpn_unbuffer(&mptr, scale));
return 0;
}
char *vrpn_ForceDevice::encode_setSceneOrigin(vrpn_int32 &len,
const vrpn_float32 Pos[3],
const vrpn_float32 axis[3],
const vrpn_float32 angle)
{ int i;
char *buf;
char *mptr;
vrpn_int32 mlen;
len = 7 * sizeof(vrpn_float32);
mlen = len;
buf = new char[len];
mptr = buf;
for (i = 0; i < 3; i++)
vrpn_buffer(&mptr, &mlen, Pos[i]);
for (i = 0; i < 3; i++)
vrpn_buffer(&mptr, &mlen, axis[i]);
vrpn_buffer(&mptr, &mlen, angle);
return buf;
}
vrpn_int32 vrpn_ForceDevice::decode_setSceneOrigin(const char *buffer,
vrpn_int32 len,
vrpn_float32 Pos[3],
vrpn_float32 axis[3],
vrpn_float32 *angle)
{
int i;
const char *mptr = buffer;
if (len != 7 * sizeof(vrpn_int32)) {
fprintf(stderr,
"vrpn_ForceDevice: setsceneorigin message payload error\n");
fprintf(stderr, " (got %d, expected %lud)\n", len,
static_cast<unsigned long>(7 * sizeof(vrpn_int32)));
return -1;
}
for (i = 0; i < 3; i++)
CHECK(vrpn_unbuffer(&mptr, &Pos[i]));
for (i = 0; i < 3; i++)
CHECK(vrpn_unbuffer(&mptr, &axis[i]));
CHECK(vrpn_unbuffer(&mptr, angle));
return 0;
}
char *vrpn_ForceDevice::encode_setObjectIsTouchable(vrpn_int32 &len,
const vrpn_int32 objNum,
const vrpn_bool IsTouchable)
{
char *buf;
char *mptr;
vrpn_int32 mlen;
len = sizeof(vrpn_int32) + sizeof(vrpn_bool);
mlen = len;
buf = new char[len];
mptr = buf;
vrpn_buffer(&mptr, &mlen, objNum);
vrpn_buffer(&mptr, &mlen, IsTouchable);
return buf;
}
vrpn_int32 vrpn_ForceDevice::decode_setObjectIsTouchable(const char *buffer,
vrpn_int32 len,
vrpn_int32 *objNum,
vrpn_bool *IsTouchable)
{
const char *mptr = buffer;
if (len != (sizeof(vrpn_int32) + sizeof(vrpn_bool))) {
fprintf(stderr, "vrpn_ForceDevice: set object is touchable message "
"payload error\n");
fprintf(
stderr, " (got %d, expected %lud)\n", len,
static_cast<unsigned long>(sizeof(vrpn_int32) + sizeof(vrpn_bool)));
return -1;
}
CHECK(vrpn_unbuffer(&mptr, objNum));
CHECK(vrpn_unbuffer(&mptr, IsTouchable));
return 0;
}
// static
char *vrpn_ForceDevice::encode_forcefield(vrpn_int32 &len,
const vrpn_float32 origin[3],
const vrpn_float32 force[3],
const vrpn_float32 jacobian[3][3],
const vrpn_float32 radius)
{
int i, j;
char *buf;
char *mptr;
vrpn_int32 mlen;
len = 16 * sizeof(vrpn_float32);
mlen = len;
buf = new char[len];
mptr = buf;
for (i = 0; i < 3; i++)
vrpn_buffer(&mptr, &mlen, origin[i]);
for (i = 0; i < 3; i++)
vrpn_buffer(&mptr, &mlen, force[i]);
for (i = 0; i < 3; i++)
for (j = 0; j < 3; j++)
vrpn_buffer(&mptr, &mlen, jacobian[i][j]);
vrpn_buffer(&mptr, &mlen, radius);
return buf;
}
// static
vrpn_int32 vrpn_ForceDevice::decode_forcefield(
const char *buffer, const vrpn_int32 len, vrpn_float32 origin[3],
vrpn_float32 force[3], vrpn_float32 jacobian[3][3], vrpn_float32 *radius)
{
int i, j;
const char *mptr = buffer;
if (len != 16 * sizeof(vrpn_float32)) {
fprintf(stderr,
"vrpn_ForceDevice: force field message payload error\n");
fprintf(stderr, " (got %d, expected %lud)\n", len,
static_cast<unsigned long>(16 * sizeof(vrpn_float32)));
return -1;
}
for (i = 0; i < 3; i++)
CHECK(vrpn_unbuffer(&mptr, &(origin[i])));
for (i = 0; i < 3; i++)
CHECK(vrpn_unbuffer(&mptr, &(force[i])));
for (i = 0; i < 3; i++)
for (j = 0; j < 3; j++)
CHECK(vrpn_unbuffer(&mptr, &(jacobian[i][j])));
CHECK(vrpn_unbuffer(&mptr, radius));
return 0;
}
char *vrpn_ForceDevice::encode_error(vrpn_int32 &len,
const vrpn_int32 error_code)
{
char *buf;
char *mptr;
vrpn_int32 mlen;
len = sizeof(vrpn_int32);
mlen = len;
buf = new char[len];
mptr = buf;
vrpn_buffer(&mptr, &mlen, error_code);
return buf;
}
vrpn_int32 vrpn_ForceDevice::decode_error(const char *buffer,
const vrpn_int32 len,
vrpn_int32 *error_code)
{
const char *mptr = buffer;
if (len != sizeof(vrpn_int32)) {
fprintf(stderr, "vrpn_ForceDevice: error message payload error\n");
fprintf(stderr, " (got %d, expected %lud)\n", len,
static_cast<unsigned long>(sizeof(vrpn_int32)));
return -1;
}
CHECK(vrpn_unbuffer(&mptr, error_code));
return 0;
}
void vrpn_ForceDevice::set_plane(vrpn_float32 *p)
{
for (int i = 0; i < 4; i++) {
plane[i] = p[i];
}
}
void vrpn_ForceDevice::set_plane(vrpn_float32 a, vrpn_float32 b, vrpn_float32 c,
vrpn_float32 d)
{
plane[0] = a;
plane[1] = b;
plane[2] = c;
plane[3] = d;
}
void vrpn_ForceDevice::set_plane(vrpn_float32 *normal, vrpn_float32 d)
{
for (int i = 0; i < 3; i++) {
plane[i] = normal[i];
}
plane[3] = d;
}
void vrpn_ForceDevice::sendError(int error_code)
{
char *msgbuf;
vrpn_int32 len;
struct timeval current_time;
vrpn_gettimeofday(¤t_time, NULL);
timestamp.tv_sec = current_time.tv_sec;
timestamp.tv_usec = current_time.tv_usec;
if (d_connection) {
msgbuf = encode_error(len, error_code);
if (d_connection->pack_message(len, timestamp, error_message_id,
d_sender_id, msgbuf,
vrpn_CONNECTION_RELIABLE)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
}
}
// constraint message encode/decode methods
// static
char *vrpn_ForceDevice::encode_enableConstraint(vrpn_int32 &len,
vrpn_int32 enable)
{
char *buf;
char *mptr;
vrpn_int32 mlen;
len = sizeof(vrpn_int32);
mlen = len;
buf = new char[len];
mptr = buf;
vrpn_buffer(&mptr, &mlen, enable);
return buf;
}
// static
vrpn_int32 vrpn_ForceDevice::decode_enableConstraint(const char *buffer,
const vrpn_int32 len,
vrpn_int32 *enable)
{
const char *mptr = buffer;
if (len != sizeof(vrpn_int32)) {
fprintf(stderr, "vrpn_ForceDevice: "
"enable constraint message payload error\n"
" (got %d, expected %lud)\n",
len, static_cast<unsigned long>(sizeof(vrpn_int32)));
return -1;
}
CHECK(vrpn_unbuffer(&mptr, enable));
return 0;
}
// static
char *vrpn_ForceDevice::encode_setConstraintMode(vrpn_int32 &len,
ConstraintGeometry mode)
{
char *buf;
char *mptr;
vrpn_int32 modeint;
vrpn_int32 mlen;
len = sizeof(vrpn_int32);
mlen = len;
buf = new char[len];
mptr = buf;
switch (mode) {
case NO_CONSTRAINT:
modeint = 0;
break;
case POINT_CONSTRAINT:
modeint = 1;
break;
case LINE_CONSTRAINT:
modeint = 2;
break;
case PLANE_CONSTRAINT:
modeint = 3;
break;
default:
fprintf(stderr, "vrpn_ForceDevice: "
"Unknown or illegal constraint mode.\n");
modeint = 0;
break;
}
vrpn_buffer(&mptr, &mlen, modeint);
return buf;
}
// static
vrpn_int32 vrpn_ForceDevice::decode_setConstraintMode(const char *buffer,
const vrpn_int32 len,
ConstraintGeometry *mode)
{
const char *mptr = buffer;
vrpn_int32 modeint;
if (len != sizeof(vrpn_int32)) {
fprintf(stderr, "vrpn_ForceDevice: "
"constraint mode payload error\n"
" (got %d, expected %lud)\n",
len, static_cast<unsigned long>(sizeof(vrpn_int32)));
return -1;
}
CHECK(vrpn_unbuffer(&mptr, &modeint));
switch (modeint) {
case 0:
*mode = NO_CONSTRAINT;
break;
case 1:
*mode = POINT_CONSTRAINT;
break;
case 2:
*mode = LINE_CONSTRAINT;
break;
case 3: *mode = PLANE_CONSTRAINT;
break;
default:
fprintf(stderr, "vrpn_ForceDevice: "
"Unknown or illegal constraint mode.\n");
*mode = NO_CONSTRAINT;
return -1;
}
return 0;
}
// static
char *vrpn_ForceDevice::encode_setConstraintPoint(vrpn_int32 &len,
vrpn_float32 x,
vrpn_float32 y,
vrpn_float32 z)
{
return encodePoint(len, x, y, z);
}
// static
vrpn_int32 vrpn_ForceDevice::decode_setConstraintPoint(const char *buffer,
const vrpn_int32 len,
vrpn_float32 *x,
vrpn_float32 *y,
vrpn_float32 *z)
{
return decodePoint(buffer, len, x, y, z);
}
// static
char *vrpn_ForceDevice::encode_setConstraintLinePoint(vrpn_int32 &len,
vrpn_float32 x,
vrpn_float32 y,
vrpn_float32 z)
{
return encodePoint(len, x, y, z);
}
// static
vrpn_int32 vrpn_ForceDevice::decode_setConstraintLinePoint(const char *buffer,
const vrpn_int32 len,
vrpn_float32 *x,
vrpn_float32 *y,
vrpn_float32 *z)
{
return decodePoint(buffer, len, x, y, z);
}
// static
char *vrpn_ForceDevice::encode_setConstraintLineDirection(vrpn_int32 &len,
vrpn_float32 x,
vrpn_float32 y,
vrpn_float32 z)
{
return encodePoint(len, x, y, z);
}
// static
vrpn_int32 vrpn_ForceDevice::decode_setConstraintLineDirection(
const char *buffer, const vrpn_int32 len, vrpn_float32 *x, vrpn_float32 *y,
vrpn_float32 *z)
{
return decodePoint(buffer, len, x, y, z);
}
// static
char *vrpn_ForceDevice::encode_setConstraintPlanePoint(vrpn_int32 &len,
vrpn_float32 x, vrpn_float32 y,
vrpn_float32 z)
{
return encodePoint(len, x, y, z);
}
// static
vrpn_int32 vrpn_ForceDevice::decode_setConstraintPlanePoint(
const char *buffer, const vrpn_int32 len, vrpn_float32 *x, vrpn_float32 *y,
vrpn_float32 *z)
{
return decodePoint(buffer, len, x, y, z);
}
// static
char *vrpn_ForceDevice::encode_setConstraintPlaneNormal(vrpn_int32 &len,
vrpn_float32 x,
vrpn_float32 y,
vrpn_float32 z)
{
return encodePoint(len, x, y, z);
}
// static
vrpn_int32 vrpn_ForceDevice::decode_setConstraintPlaneNormal(
const char *buffer, const vrpn_int32 len, vrpn_float32 *x, vrpn_float32 *y,
vrpn_float32 *z)
{
return decodePoint(buffer, len, x, y, z);
}
// static
char *vrpn_ForceDevice::encode_setConstraintKSpring(vrpn_int32 &len,
vrpn_float32 k)
{
char *buf;
char *mptr;
vrpn_int32 mlen;
len = sizeof(vrpn_float32);
mlen = len;
buf = new char[len];
mptr = buf;
vrpn_buffer(&mptr, &mlen, k);
return buf;
}
// static
vrpn_int32 vrpn_ForceDevice::decode_setConstraintKSpring(const char *buffer,
const vrpn_int32 len,
vrpn_float32 *k)
{
const char *mptr = buffer;
if (len != sizeof(vrpn_float32)) {
fprintf(stderr, "vrpn_ForceDevice: "
"set constraint spring message payload error\n"
" (got %d, expected %lud)\n",
len, static_cast<unsigned long>(sizeof(vrpn_float32)));
return -1;
}
CHECK(vrpn_unbuffer(&mptr, k));
return 0;
}
//
// utility functions
//
// static
char *vrpn_ForceDevice::encodePoint(vrpn_int32 &len, vrpn_float32 x,
vrpn_float32 y, vrpn_float32 z)
{
char *buf;
char *mptr;
vrpn_int32 mlen;
len = 3 * sizeof(vrpn_float32);
mlen = len;
buf = new char[len];
mptr = buf;
vrpn_buffer(&mptr, &mlen, x);
vrpn_buffer(&mptr, &mlen, y);
vrpn_buffer(&mptr, &mlen, z);
return buf;
}
// static
vrpn_int32 vrpn_ForceDevice::decodePoint(const char *buffer,
const vrpn_int32 len, vrpn_float32 *x,
vrpn_float32 *y, vrpn_float32 *z)
{
const char *mptr = buffer;
if (len != 3 * sizeof(vrpn_float32)) {
fprintf(stderr, "vrpn_ForceDevice: "
"decode point message payload error\n"
" (got size %d, expected %lud)\n",
len, static_cast<unsigned long>(3 * sizeof(vrpn_float32)));
return -1;
}
CHECK(vrpn_unbuffer(&mptr, x));
CHECK(vrpn_unbuffer(&mptr, y));
CHECK(vrpn_unbuffer(&mptr, z));
return 0;
}
/* ******************** vrpn_ForceDevice_Remote ********************** */
vrpn_ForceDevice_Remote::vrpn_ForceDevice_Remote(const char *name,
vrpn_Connection *cn)
: vrpn_ForceDevice(name, cn)
, d_conEnabled(0)
, d_conMode(POINT_CONSTRAINT)
{
which_plane = 0;
// Make sure that we have a valid connection
if (d_connection == NULL) {
fprintf(stderr, "vrpn_ForceDevice_Remote: No connection\n");
return;
}
// Register a handler for the change callback from this device.
if (register_autodeleted_handler(
force_message_id, handle_force_change_message, this, d_sender_id)) {
fprintf(stderr, "vrpn_ForceDevice_Remote:can't register handler\n");
d_connection = NULL;
}
// Register a handler for the scp change callback from this device.
if (register_autodeleted_handler(scp_message_id, handle_scp_change_message,
this, d_sender_id)) {
fprintf(stderr, "vrpn_ForceDevice_Remote:can't register handler\n");
d_connection = NULL;
}
// Register a handler for the error change callback from this device.
if (register_autodeleted_handler(
error_message_id, handle_error_change_message, this, d_sender_id)) {
fprintf(stderr, "vrpn_ForceDevice_Remote:can't register handler\n");
d_connection = NULL;
}
// Find out what time it is and put this into the timestamp
vrpn_gettimeofday(×tamp, NULL);
}
// virtual
vrpn_ForceDevice_Remote::~vrpn_ForceDevice_Remote(void) {}
void vrpn_ForceDevice_Remote::sendSurface(void)
{ // Encode the plane if there is a connection
char *msgbuf;
vrpn_int32 len;
struct timeval current_time;
vrpn_gettimeofday(¤t_time, NULL);
timestamp.tv_sec = current_time.tv_sec;
timestamp.tv_usec = current_time.tv_usec;
if (d_connection) {
msgbuf = encode_plane(len, plane, SurfaceKspring, SurfaceKdamping,
SurfaceFdynamic, SurfaceFstatic, which_plane,
numRecCycles);
if (d_connection->pack_message(len, timestamp, plane_message_id,
d_sender_id, msgbuf,
vrpn_CONNECTION_LOW_LATENCY)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
msgbuf = encode_surface_effects(
len, SurfaceKadhesionNormal, SurfaceKadhesionLateral,
SurfaceTextureAmplitude, SurfaceTextureWavelength, SurfaceBuzzAmp,
SurfaceBuzzFreq);
if (d_connection->pack_message(len, timestamp, plane_effects_message_id,
d_sender_id, msgbuf,
vrpn_CONNECTION_LOW_LATENCY)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
}
}
void vrpn_ForceDevice_Remote::startSurface(void)
{ // Encode the plane if there is a connection
char *msgbuf;
vrpn_int32 len;
struct timeval current_time;
vrpn_gettimeofday(¤t_time, NULL);
timestamp.tv_sec = current_time.tv_sec;
timestamp.tv_usec = current_time.tv_usec;
if (d_connection) {
msgbuf = encode_plane(len, plane, SurfaceKspring, SurfaceKdamping,
SurfaceFdynamic, SurfaceFstatic, which_plane,
numRecCycles);
if (d_connection->pack_message(len, timestamp, plane_message_id, d_sender_id, msgbuf,
vrpn_CONNECTION_RELIABLE)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
}
}
void vrpn_ForceDevice_Remote::stopSurface(void)
{ // Encode the plane if there is a connection
char *msgbuf;
vrpn_int32 len;
struct timeval current_time;
vrpn_gettimeofday(¤t_time, NULL);
timestamp.tv_sec = current_time.tv_sec;
timestamp.tv_usec = current_time.tv_usec;
set_plane(0, 0, 0, 0);
if (d_connection) {
msgbuf = encode_plane(len, plane, SurfaceKspring, SurfaceKdamping,
SurfaceFdynamic, SurfaceFstatic, which_plane,
numRecCycles);
if (d_connection->pack_message(len, timestamp, plane_message_id,
d_sender_id, msgbuf,
vrpn_CONNECTION_RELIABLE)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
}
}
void vrpn_ForceDevice_Remote::setVertex(vrpn_int32 vertNum, vrpn_float32 x,
vrpn_float32 y, vrpn_float32 z)
{
setObjectVertex(0, vertNum, x, y, z);
}
void vrpn_ForceDevice_Remote::setNormal(vrpn_int32 normNum, vrpn_float32 x,
vrpn_float32 y, vrpn_float32 z)
{
setObjectNormal(0, normNum, x, y, z);
}
void vrpn_ForceDevice_Remote::setTriangle(vrpn_int32 triNum, vrpn_int32 vert0,
vrpn_int32 vert1, vrpn_int32 vert2,
vrpn_int32 norm0, vrpn_int32 norm1,
vrpn_int32 norm2)
{
setObjectTriangle(0, triNum, vert0, vert1, vert2, norm0, norm1, norm2);
}
void vrpn_ForceDevice_Remote::removeTriangle(vrpn_int32 triNum)
{
removeObjectTriangle(0, triNum);
}
void vrpn_ForceDevice_Remote::updateTrimeshChanges()
{
updateObjectTrimeshChanges(0);
}
// set the trimesh's homogen transform matrix (in row major order)
void vrpn_ForceDevice_Remote::setTrimeshTransform(vrpn_float32 homMatrix[16])
{
setObjectTrimeshTransform(0, homMatrix);
}
// clear the triMesh if connectionvoid vrpn_ForceDevice_Remote::clearTrimesh(void) { clearObjectTrimesh(0); }
/** functions for multiple objects in the haptic scene
* *************************************/
// Add an object to the haptic scene as root (parent -1 = default) or as child
// (ParentNum =the number of the parent)
void vrpn_ForceDevice_Remote::addObject(vrpn_int32 objNum,
vrpn_int32 ParentNum /*=-1*/)
{
char *msgbuf;
vrpn_int32 len;
struct timeval current_time;
if (objNum > m_NextAvailableObjectID) m_NextAvailableObjectID = objNum + 1;
vrpn_gettimeofday(¤t_time, NULL);
timestamp.tv_sec = current_time.tv_sec;
timestamp.tv_usec = current_time.tv_usec;
if (d_connection) {
msgbuf = encode_addObject(len, objNum, ParentNum);
if (d_connection->pack_message(len, timestamp, addObject_message_id,
d_sender_id, msgbuf,
vrpn_CONNECTION_RELIABLE)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
}
}
// Add an object next to the haptic scene as root
void vrpn_ForceDevice_Remote::addObjectExScene(vrpn_int32 objNum)
{
char *msgbuf;
vrpn_int32 len;
struct timeval current_time;
if (objNum > m_NextAvailableObjectID) m_NextAvailableObjectID = objNum + 1;
vrpn_gettimeofday(¤t_time, NULL);
timestamp.tv_sec = current_time.tv_sec;
timestamp.tv_usec = current_time.tv_usec;
if (d_connection) {
msgbuf = encode_addObjectExScene(len, objNum);
if (d_connection->pack_message(len, timestamp,
addObjectExScene_message_id, d_sender_id,
msgbuf, vrpn_CONNECTION_RELIABLE)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
}
}
// vertNum normNum and triNum start at 0
void vrpn_ForceDevice_Remote::setObjectVertex(vrpn_int32 objNum,
vrpn_int32 vertNum,
vrpn_float32 x, vrpn_float32 y,
vrpn_float32 z)
{
char *msgbuf;
vrpn_int32 len;
struct timeval current_time;
vrpn_gettimeofday(¤t_time, NULL);
timestamp.tv_sec = current_time.tv_sec;
timestamp.tv_usec = current_time.tv_usec;
if (d_connection) {
msgbuf = encode_vertex(len, objNum, vertNum, x, y, z); if (d_connection->pack_message(len, timestamp, setVertex_message_id,
d_sender_id, msgbuf,
vrpn_CONNECTION_RELIABLE)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
}
}
// NOTE: ghost doesn't take normals,
// and normals still aren't implemented for Hcollide
void vrpn_ForceDevice_Remote::setObjectNormal(vrpn_int32 objNum,
vrpn_int32 normNum,
vrpn_float32 x, vrpn_float32 y,
vrpn_float32 z)
{
char *msgbuf;
vrpn_int32 len;
struct timeval current_time;
vrpn_gettimeofday(¤t_time, NULL);
timestamp.tv_sec = current_time.tv_sec;
timestamp.tv_usec = current_time.tv_usec;
if (d_connection) {
msgbuf = encode_normal(len, objNum, normNum, x, y, z);
if (d_connection->pack_message(len, timestamp, setNormal_message_id,
d_sender_id, msgbuf,
vrpn_CONNECTION_RELIABLE)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
}
}
void vrpn_ForceDevice_Remote::setObjectTriangle(
vrpn_int32 objNum, vrpn_int32 triNum, vrpn_int32 vert0, vrpn_int32 vert1,
vrpn_int32 vert2, vrpn_int32 norm0 /*=-1*/, vrpn_int32 norm1 /*=-1*/,
vrpn_int32 norm2 /*=-1*/)
{
char *msgbuf;
vrpn_int32 len;
struct timeval current_time;
vrpn_gettimeofday(¤t_time, NULL);
timestamp.tv_sec = current_time.tv_sec;
timestamp.tv_usec = current_time.tv_usec;
if (d_connection) {
msgbuf = encode_triangle(len, objNum, triNum, vert0, vert1, vert2,
norm0, norm1, norm2);
if (d_connection->pack_message(len, timestamp, setTriangle_message_id,
d_sender_id, msgbuf,
vrpn_CONNECTION_RELIABLE)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
}
}
void vrpn_ForceDevice_Remote::removeObjectTriangle(vrpn_int32 objNum,
vrpn_int32 triNum)
{
char *msgbuf;
vrpn_int32 len;
struct timeval current_time;
vrpn_gettimeofday(¤t_time, NULL);
timestamp.tv_sec = current_time.tv_sec;
timestamp.tv_usec = current_time.tv_usec;
if (d_connection) {
msgbuf = encode_removeTriangle(len, objNum, triNum);
if (d_connection->pack_message(len, timestamp,
removeTriangle_message_id, d_sender_id,
msgbuf, vrpn_CONNECTION_RELIABLE)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
}
}
// should be called to incorporate the above changes into the
// displayed trimesh
void vrpn_ForceDevice_Remote::updateObjectTrimeshChanges(vrpn_int32 objNum)
{
char *msgbuf;
vrpn_int32 len;
struct timeval current_time;
vrpn_gettimeofday(¤t_time, NULL);
timestamp.tv_sec = current_time.tv_sec;
timestamp.tv_usec = current_time.tv_usec;
if (d_connection) {
msgbuf = encode_updateTrimeshChanges(len, objNum, SurfaceKspring,
SurfaceKdamping, SurfaceFstatic,
SurfaceFdynamic);
if (d_connection->pack_message(
len, timestamp, updateTrimeshChanges_message_id, d_sender_id,
msgbuf, vrpn_CONNECTION_RELIABLE)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
}
}
// set the trimesh's homogen transform matrix (in row major order)
void vrpn_ForceDevice_Remote::setObjectTrimeshTransform(
vrpn_int32 objNum, vrpn_float32 homMatrix[16])
{
char *msgbuf;
vrpn_int32 len;
struct timeval current_time;
vrpn_gettimeofday(¤t_time, NULL);
timestamp.tv_sec = current_time.tv_sec;
timestamp.tv_usec = current_time.tv_usec;
if (d_connection) {
msgbuf = encode_trimeshTransform(len, objNum, homMatrix);
if (d_connection->pack_message(len, timestamp,
transformTrimesh_message_id, d_sender_id,
msgbuf, vrpn_CONNECTION_RELIABLE)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
}
}
// set position of an object
void vrpn_ForceDevice_Remote::setObjectPosition(vrpn_int32 objNum,
vrpn_float32 Pos[3])
{
char *msgbuf;
vrpn_int32 len;
struct timeval current_time;
vrpn_gettimeofday(¤t_time, NULL);
timestamp.tv_sec = current_time.tv_sec; timestamp.tv_usec = current_time.tv_usec;
if (d_connection) {
msgbuf = encode_objectPosition(len, objNum, Pos);
if (d_connection->pack_message(
len, timestamp, setObjectPosition_message_id, d_sender_id,
msgbuf, vrpn_CONNECTION_RELIABLE)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
}
}
// set orientation of an object
void vrpn_ForceDevice_Remote::setObjectOrientation(vrpn_int32 objNum,
vrpn_float32 axis[3],
vrpn_float32 angle)
{
char *msgbuf;
vrpn_int32 len;
struct timeval current_time;
vrpn_gettimeofday(¤t_time, NULL);
timestamp.tv_sec = current_time.tv_sec;
timestamp.tv_usec = current_time.tv_usec;
if (d_connection) {
msgbuf = encode_objectOrientation(len, objNum, axis, angle);
if (d_connection->pack_message(
len, timestamp, setObjectOrientation_message_id, d_sender_id,
msgbuf, vrpn_CONNECTION_RELIABLE)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
}
}
// set Scale of an object
void vrpn_ForceDevice_Remote::setObjectScale(vrpn_int32 objNum,
vrpn_float32 Scale[3])
{
char *msgbuf;
vrpn_int32 len;
struct timeval current_time;
vrpn_gettimeofday(¤t_time, NULL);
timestamp.tv_sec = current_time.tv_sec;
timestamp.tv_usec = current_time.tv_usec;
if (d_connection) {
msgbuf = encode_objectScale(len, objNum, Scale);
if (d_connection->pack_message(len, timestamp,
setObjectScale_message_id, d_sender_id,
msgbuf, vrpn_CONNECTION_RELIABLE)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
}
}
// remove an object from the scene
void vrpn_ForceDevice_Remote::removeObject(vrpn_int32 objNum)
{
char *msgbuf;
vrpn_int32 len;
struct timeval current_time;
vrpn_gettimeofday(¤t_time, NULL);
timestamp.tv_sec = current_time.tv_sec;
timestamp.tv_usec = current_time.tv_usec;
if (d_connection) {
msgbuf = encode_removeObject(len, objNum);
if (d_connection->pack_message(len, timestamp, removeObject_message_id,
d_sender_id, msgbuf,
vrpn_CONNECTION_RELIABLE)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
}
}
void vrpn_ForceDevice_Remote::clearObjectTrimesh(vrpn_int32 objNum)
{
char *msgbuf = NULL;
vrpn_int32 len = 0;
struct timeval current_time;
vrpn_gettimeofday(¤t_time, NULL);
timestamp.tv_sec = current_time.tv_sec;
timestamp.tv_usec = current_time.tv_usec;
if (d_connection) {
msgbuf = encode_clearTrimesh(len, objNum);
if (d_connection->pack_message(len, timestamp, clearTrimesh_message_id,
d_sender_id, msgbuf,
vrpn_CONNECTION_RELIABLE)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
}
}
/** Functions to organize the scene
* **********************************************************/
// Change The parent of an object
void vrpn_ForceDevice_Remote::moveToParent(vrpn_int32 objNum,
vrpn_int32 ParentNum)
{
char *msgbuf;
vrpn_int32 len;
struct timeval current_time;
vrpn_gettimeofday(¤t_time, NULL);
timestamp.tv_sec = current_time.tv_sec;
timestamp.tv_usec = current_time.tv_usec;
if (d_connection) {
msgbuf = encode_moveToParent(len, objNum, ParentNum);
if (d_connection->pack_message(len, timestamp, moveToParent_message_id,
d_sender_id, msgbuf,
vrpn_CONNECTION_RELIABLE)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
}
}
// Set the Origin of the haptic scene
void vrpn_ForceDevice_Remote::setHapticOrigin(vrpn_float32 Pos[3],
vrpn_float32 axis[3],
vrpn_float32 angle)
{
char *msgbuf;
vrpn_int32 len;
struct timeval current_time;
vrpn_gettimeofday(¤t_time, NULL);
timestamp.tv_sec = current_time.tv_sec;
timestamp.tv_usec = current_time.tv_usec;
if (d_connection) {
msgbuf = encode_setHapticOrigin(len, Pos, axis, angle);
if (d_connection->pack_message(len, timestamp,
setHapticOrigin_message_id, d_sender_id,
msgbuf, vrpn_CONNECTION_RELIABLE)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
}
}
// Set the scale of the haptic scene
void vrpn_ForceDevice_Remote::setHapticScale(vrpn_float32 Scale)
{
char *msgbuf;
vrpn_int32 len;
struct timeval current_time;
vrpn_gettimeofday(¤t_time, NULL);
timestamp.tv_sec = current_time.tv_sec;
timestamp.tv_usec = current_time.tv_usec;
if (d_connection) {
msgbuf = encode_setHapticScale(len, Scale);
if (d_connection->pack_message(len, timestamp,
setHapticScale_message_id, d_sender_id,
msgbuf, vrpn_CONNECTION_RELIABLE)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
}
}
void vrpn_ForceDevice_Remote::setSceneOrigin(vrpn_float32 Pos[3],
vrpn_float32 axis[3],
vrpn_float32 angle)
{
char *msgbuf;
vrpn_int32 len;
struct timeval current_time;
vrpn_gettimeofday(¤t_time, NULL);
timestamp.tv_sec = current_time.tv_sec;
timestamp.tv_usec = current_time.tv_usec;
if (d_connection) {
msgbuf = encode_setSceneOrigin(len, Pos, axis, angle);
if (d_connection->pack_message(len, timestamp,
setSceneOrigin_message_id, d_sender_id,
msgbuf, vrpn_CONNECTION_RELIABLE)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
}
}
// get new ID, use only if wish to use vrpn ids and do not want to manage them
// yourself: ids need to be unique
vrpn_int32 vrpn_ForceDevice_Remote::getNewObjectID()
{
return m_NextAvailableObjectID++;
}
// make an object touchable or not
void vrpn_ForceDevice_Remote::setObjectIsTouchable(
vrpn_int32 objNum, vrpn_bool IsTouchable /*=true*/)
{
char *msgbuf;
vrpn_int32 len; struct timeval current_time;
vrpn_gettimeofday(¤t_time, NULL);
timestamp.tv_sec = current_time.tv_sec;
timestamp.tv_usec = current_time.tv_usec;
if (d_connection) {
msgbuf = encode_setObjectIsTouchable(len, objNum, IsTouchable);
if (d_connection->pack_message(
len, timestamp, setObjectIsTouchable_message_id, d_sender_id,
msgbuf, vrpn_CONNECTION_RELIABLE)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
}
}
// the next time we send a trimesh we will use the following type
void vrpn_ForceDevice_Remote::useHcollide(void)
{
char *msgbuf;
vrpn_int32 len;
struct timeval current_time;
vrpn_gettimeofday(¤t_time, NULL);
timestamp.tv_sec = current_time.tv_sec;
timestamp.tv_usec = current_time.tv_usec;
if (d_connection) {
msgbuf = encode_setTrimeshType(len, -1, HCOLLIDE);
if (d_connection->pack_message(len, timestamp,
setTrimeshType_message_id, d_sender_id,
msgbuf, vrpn_CONNECTION_RELIABLE)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
}
}
void vrpn_ForceDevice_Remote::useGhost(void)
{
char *msgbuf;
vrpn_int32 len;
struct timeval current_time;
vrpn_gettimeofday(¤t_time, NULL);
timestamp.tv_sec = current_time.tv_sec;
timestamp.tv_usec = current_time.tv_usec;
if (d_connection) {
msgbuf = encode_setTrimeshType(len, -1, GHOST);
if (d_connection->pack_message(len, timestamp,
setTrimeshType_message_id, d_sender_id,
msgbuf, vrpn_CONNECTION_RELIABLE)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
}
}
// ajout ONDIM
void vrpn_ForceDevice_Remote::startEffect(void)
{
char *msgbuf;
vrpn_int32 len;
struct timeval current_time;
vrpn_gettimeofday(¤t_time, NULL);
timestamp.tv_sec = current_time.tv_sec;
timestamp.tv_usec = current_time.tv_usec;
if (d_connection) {
msgbuf = encode_custom_effect(len, customEffectId, customEffectParams,
nbCustomEffectParams);
if (d_connection->pack_message(len, timestamp, custom_effect_message_id,
d_sender_id, msgbuf,
vrpn_CONNECTION_RELIABLE)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
}
}
void vrpn_ForceDevice_Remote::stopEffect(void)
{
char *msgbuf;
vrpn_int32 len;
struct timeval current_time;
vrpn_gettimeofday(¤t_time, NULL);
timestamp.tv_sec = current_time.tv_sec;
timestamp.tv_usec = current_time.tv_usec;
setCustomEffect(-1, NULL, 0);
if (d_connection) {
msgbuf = encode_custom_effect(len, customEffectId, customEffectParams,
nbCustomEffectParams);
if (d_connection->pack_message(len, timestamp, custom_effect_message_id,
d_sender_id, msgbuf,
vrpn_CONNECTION_RELIABLE)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
}
}
// fin ajout ONDIM
//
// constraint methods
//
#ifndef FD_SPRINGS_AS_FIELDS
#if 0
void vrpn_ForceDevice_Remote::enableConstraint (vrpn_int32 enable) {
}
void vrpn_ForceDevice_Remote::setConstraintMode (ConstraintGeometry mode) {
}
void vrpn_ForceDevice_Remote::setConstraintPoint
}
void vrpn_ForceDevice_Remote::setConstraintLinePoint
}
void vrpn_ForceDevice_Remote::setConstraintLineDirection
}
void vrpn_ForceDevice_Remote::setConstraintPlanePoint
}
void vrpn_ForceDevice_Remote::setConstraintPlaneNormal
}
void vrpn_ForceDevice_Remote::setConstraintKSpring (vrpn_float32 k) {
}
#endif // 0
#else
void vrpn_ForceDevice_Remote::enableConstraint(vrpn_int32 enable)
{
if (enable == d_conEnabled) return;
d_conEnabled = enable;
switch (d_conEnabled) {
case 0:
stopForceField();
break;
case 1:
constraintToForceField();
sendForceField();
break;
default:
fprintf(stderr, "vrpn_ForceDevice_Remote::enableConstraint: "
"Illegal value of enable (%d).\n",
enable);
break;
}
}
void vrpn_ForceDevice_Remote::setConstraintMode(ConstraintGeometry mode)
{
d_conMode = mode;
constraintToForceField();
if (d_conEnabled) {
sendForceField();
}
}
void vrpn_ForceDevice_Remote::setConstraintPoint(vrpn_float32 point[3])
{
d_conPoint[0] = point[0];
d_conPoint[1] = point[1];
d_conPoint[2] = point[2];
constraintToForceField();
if (d_conEnabled) {
sendForceField();
}
}
void vrpn_ForceDevice_Remote::setConstraintLinePoint(vrpn_float32 point[3])
{
d_conLinePoint[0] = point[0];
d_conLinePoint[1] = point[1];
d_conLinePoint[2] = point[2];
constraintToForceField();
if (d_conEnabled) {
sendForceField();
}
}
void vrpn_ForceDevice_Remote::setConstraintLineDirection(
vrpn_float32 direction[3])
{
d_conLineDirection[0] = direction[0];
d_conLineDirection[1] = direction[1];
d_conLineDirection[2] = direction[2];
constraintToForceField();
if (d_conEnabled) {
sendForceField();
}
}
void vrpn_ForceDevice_Remote::setConstraintPlanePoint(vrpn_float32 point[3])
{
d_conPlanePoint[0] = point[0];
d_conPlanePoint[1] = point[1]; d_conPlanePoint[2] = point[2];
constraintToForceField();
if (d_conEnabled) {
sendForceField();
}
}
void vrpn_ForceDevice_Remote::setConstraintPlaneNormal(vrpn_float32 normal[3])
{
d_conPlaneNormal[0] = normal[0];
d_conPlaneNormal[1] = normal[1];
d_conPlaneNormal[2] = normal[2];
constraintToForceField();
if (d_conEnabled) {
sendForceField();
}
}
void vrpn_ForceDevice_Remote::setConstraintKSpring(vrpn_float32 k)
{
d_conKSpring = k;
constraintToForceField();
if (d_conEnabled) {
sendForceField();
}
}
#endif // FD_SPRINGS_AS_FIELDS
void vrpn_ForceDevice_Remote::sendForceField(void)
{
sendForceField(ff_origin, ff_force, ff_jacobian, ff_radius);
}
void vrpn_ForceDevice_Remote::sendForceField(vrpn_float32 origin[3],
vrpn_float32 force[3],
vrpn_float32 jacobian[3][3],
vrpn_float32 radius)
{
char *msgbuf;
vrpn_int32 len;
struct timeval current_time;
vrpn_gettimeofday(¤t_time, NULL);
timestamp.tv_sec = current_time.tv_sec;
timestamp.tv_usec = current_time.tv_usec;
if (d_connection) {
msgbuf = encode_forcefield(len, origin, force, jacobian, radius);
if (d_connection->pack_message(len, timestamp, forcefield_message_id,
d_sender_id, msgbuf,
vrpn_CONNECTION_LOW_LATENCY)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
}
}
// same as sendForceField but sets force to 0 and sends RELIABLY
void vrpn_ForceDevice_Remote::stopForceField(void)
{
vrpn_float32 origin[3] = {0, 0, 0};
vrpn_float32 force[3] = {0, 0, 0};
vrpn_float32 jacobian[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
vrpn_float32 radius = 0;
char *msgbuf;
vrpn_int32 len;
struct timeval current_time;
vrpn_gettimeofday(¤t_time, NULL);
timestamp.tv_sec = current_time.tv_sec;
timestamp.tv_usec = current_time.tv_usec;
if (d_connection) {
msgbuf = encode_forcefield(len, origin, force, jacobian, radius);
if (d_connection->pack_message(len, timestamp, forcefield_message_id,
d_sender_id, msgbuf,
vrpn_CONNECTION_RELIABLE)) {
fprintf(stderr, "Phantom: cannot write message: tossing\n");
}
delete[] msgbuf;
}
}
void vrpn_ForceDevice_Remote::mainloop()
{
if (d_connection) {
d_connection->mainloop();
}
client_mainloop();
}
int vrpn_ForceDevice_Remote::handle_force_change_message(void *userdata,
vrpn_HANDLERPARAM p)
{
vrpn_ForceDevice_Remote *me = (vrpn_ForceDevice_Remote *)userdata;
vrpn_FORCECB tp;
tp.msg_time = p.msg_time;
decode_force(p.buffer, p.payload_len, tp.force);
me->d_change_list.call_handlers(tp);
return 0;
}
int vrpn_ForceDevice_Remote::handle_scp_change_message(void *userdata,
vrpn_HANDLERPARAM p)
{
vrpn_ForceDevice_Remote *me = (vrpn_ForceDevice_Remote *)userdata;
vrpn_FORCESCPCB tp;
tp.msg_time = p.msg_time;
decode_scp(p.buffer, p.payload_len, tp.pos, tp.quat);
me->d_scp_change_list.call_handlers(tp);
return 0;
}
int vrpn_ForceDevice_Remote::handle_error_change_message(void *userdata,
vrpn_HANDLERPARAM p)
{
vrpn_ForceDevice_Remote *me = (vrpn_ForceDevice_Remote *)userdata;
vrpn_FORCEERRORCB tp;
if (p.payload_len != sizeof(vrpn_int32)) {
fprintf(stderr, "vrpn_ForceDevice: error message payload"
" error\n(got %d, expected %lud)\n",
p.payload_len, static_cast<unsigned long>(sizeof(vrpn_int32)));
return -1;
}
tp.msg_time = p.msg_time;
decode_error(p.buffer, p.payload_len, &(tp.error_code));
me->d_error_change_list.call_handlers(tp);
return 0;
}
void vrpn_ForceDevice_Remote::send(const char *msgbuf, vrpn_int32 len,
vrpn_int32 type)
{ struct timeval now;
vrpn_gettimeofday(&now, NULL);
timestamp.tv_sec = now.tv_sec;
timestamp.tv_usec = now.tv_usec;
if (d_connection) {
if (d_connection->pack_message(len, now, type, d_sender_id, msgbuf,
vrpn_CONNECTION_RELIABLE)) {
fprintf(stderr,
"vrpn_ForceDevice_Remote::send: Can't pack message.\n");
}
}
// HP compiler won't let you delete a const argument.
delete[](char *)msgbuf;
}
#ifdef FD_SPRINGS_AS_FIELDS
void vrpn_ForceDevice_Remote::constraintToForceField(void)
{
vrpn_float32 c[9]; // scratch matrix
int i, j;
// quatlib wants 64-bit reals; the forcefield code wants 32-bit
// reals. We do most of our math in 64 bits, then copy into 32
// for output to force field.
const float largeRadius = 100.0f; // infinity
switch (d_conMode) {
case NO_CONSTRAINT:
break;
case POINT_CONSTRAINT:
setFF_Origin(d_conPoint);
setFF_Force(0.0f, 0.0f, 0.0f);
setFF_Jacobian(-d_conKSpring, 0.0f, 0.0f, 0.0f, -d_conKSpring, 0.0f,
0.0f, 0.0f, -d_conKSpring);
setFF_Radius(largeRadius);
break;
case LINE_CONSTRAINT: {
setFF_Origin(d_conLinePoint);
setFF_Force(0.0f, 0.0f, 0.0f);
// Paul Grayson (pdg@mit.edu) points out that rotating the Jacobian
// won't work and we should use something simpler here.
// Unfortunately, it's because of the apparent difficulty of this
// case that we'd tried rotating a Jacobian in the first place.
// Time to hit the books again looking for something that'll work.
//------------------------------------------------------------------
// We want to generate a force that is in the opposite direction
// of the offset between where the pen is and where the line is
// defined to be. Because we are going to multiply the jacobian by
// this offset vector, we want it to hold values that produce a
// force that is in the direction of -OFFSET, but we want the
// force to be scaled by the amount by which OFFSET is perpendicular
// to the line direction (it should be zero along the line). So,
// along the line direction it should always evaluate to (0,0,0)
// independent of OFFSET, and perpendicular to this it should
// always be OFFSET in length in direction -OFFSET,
// which is just -OFFSET, which makes the matrix act like
// -1 scaled by the spring constant. This means that we want a
// matrix with Eigenvalues (-1, -1, 0) whose 0 Eigenvector lies
// along the line direction. We get this by compositing a matrix // that rotates this vector to lie along Z, then applying the diagonal
// (-1, -1, 0) matrix, then a matrix that rotates Z back to the
// line direction. Remember to scale all of this by the spring
// constant;
// we do this during the diagonal matrix construction.
// Normalize the direction to avoid having its length scale the force
q_vec_type norm_line_dir;
vrpn_float64 norm_len =
sqrt((d_conLineDirection[0] * d_conLineDirection[0]) +
(d_conLineDirection[1] * d_conLineDirection[1]) +
(d_conLineDirection[2] * d_conLineDirection[2]));
if (norm_len == 0) {
norm_len = 1;
}
for (i = 0; i < 3; i++) {
norm_line_dir[i] = d_conLineDirection[i] / norm_len;
}
// Construct the rotation from the normalized direction to +Z
// and the rotation back.
q_vec_type z_dir = {0, 0, 1};
q_type q_forward;
q_matrix_type forward;
q_type q_reverse;
q_matrix_type reverse;
q_from_two_vecs(q_forward, norm_line_dir, z_dir);
q_to_row_matrix(forward, q_forward);
q_invert(q_reverse, q_forward);
q_to_row_matrix(reverse, q_reverse);
// Construct the (-d_conKSpring, -d_conKSpring, 0) matrix and catenate
// the
// matrices to form the final jacobian.
q_matrix_type diagonal, temp, jacobian;
for (i = 0; i < 4; i++) {
for (j = 0; j < 4; j++) {
if ((i == j) && (i < 2)) {
diagonal[i][j] = -d_conKSpring;
}
else {
diagonal[i][j] = 0.0;
}
}
}
q_matrix_mult(temp, diagonal, forward);
q_matrix_mult(jacobian, reverse, temp);
// Grab the upper-left 3x3 portion of the jacobian and put it into
// the coefficients.
for (i = 0; i < 3; i++) {
for (j = 0; j < 3; j++) {
c[i + j * 3] = (vrpn_float32)jacobian[i][j];
}
}
setFF_Jacobian(c[0], c[1], c[2], c[3], c[4], c[5], c[6], c[7], c[8]);
setFF_Radius(largeRadius);
}; break;
case PLANE_CONSTRAINT: {
setFF_Origin(d_conPlanePoint);
setFF_Force(0.0f, 0.0f, 0.0f);
// Normalize the direction to avoid having its length scale the force
vrpn_float64 norm_plane_dir[3];
vrpn_float64 norm_len =
sqrt((d_conPlaneNormal[0] * d_conPlaneNormal[0]) +
(d_conPlaneNormal[1] * d_conPlaneNormal[1]) + (d_conPlaneNormal[2] * d_conPlaneNormal[2]));
if (norm_len == 0) {
norm_len = 1;
}
for (i = 0; i < 3; i++) {
norm_plane_dir[i] = d_conPlaneNormal[i] / norm_len;
}
// Paul Grayson (pdg@mit.edu) points out that rotating the Jacobian
// won't work and we should use something simpler here. The below
// is his code.
for (i = 0; i < 3; i++)
for (j = 0; j < 3; j++)
c[i + j * 3] = (vrpn_float32)(
-d_conKSpring * norm_plane_dir[i] * norm_plane_dir[j]);
setFF_Jacobian(c[0], c[1], c[2], c[3], c[4], c[5], c[6], c[7], c[8]);
setFF_Radius(largeRadius);
}; break;
}
}
#endif // FD_SPRINGS_AS_FIELDS