diff native/Falcon/HapticManager.h @ 5:d66dd5880081

Added support for Falcon Haptic device and Tablet/Mouse as haptic device

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/native/Falcon/HapticManager.h	Tue Jul 10 22:39:37 2012 +0100
@@ -0,0 +1,130 @@
+/*  
+ CCmI Editor - A Collaborative Cross-Modal Diagram Editing Tool
+  
+ Copyright (C) 2011  Queen Mary University of London (http://ccmi.eecs.qmul.ac.uk/)
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/  
+#pragma once
+#include "CollectionsManager.h"
+#include <HAPI/AnyHapticsDevice.h>
+#include <HAPI/GodObjectRenderer.h>
+
+#include <HAPI/HapticPointSet.h>
+#include <HAPI/HapticLineSet.h>
+#include <HAPI/HapticSpring.h>
+#include <HAPI/HapticShapeConstraint.h>
+
+#include <GL/gl.h>
+#include <GL/glu.h>
+#include <GL/glut.h>
+
+
+
+class HapticManager
+{
+	CollectionsManager *cm ;
+	void (*executeCommand)(const jchar cmd, const jint ID, const jdouble startx, const jdouble starty, const jdouble endx, const jdouble endy);
+	HAPI::AnyHapticsDevice *hd;
+	/* The force effect in use. Contains 0 if there is no force effect in use. */
+    H3DUtil::AutoRef<HAPI::HAPIForceEffect> force_effect;
+	/* the current set of haptic lines. It's used as argument when adding a constraint effect to the hapitc *
+	 * device and it's filled up with the edges of the current diagram through the collection manager       */
+	vector< HAPI::Collision::LineSegment> line_set;
+	vector<HAPI::Collision::Point> point_set;
+	map<HAPI::Collision::Point*,int> point_id_map;
+	map<HAPI::Collision::LineSegment*,int> line_id_map;
+	/* in order not to utter continuosly the touched node/edge name, keep track of the node/edge that was     *
+	 * last touched and avoid to utter its name unless the proxy touches another node/edge or goes far enough */
+	HAPI::Collision::Point* last_touched_point;
+	HAPI::Collision::LineSegment* last_touched_line;
+	HAPI::Vec3 proxy_pos;
+	HAPI::HAPIInt32 pressed_button;
+
+	enum {STICKY, LOOSE} magnetic_mode;
+	bool magnetic_mode_changed;
+
+	enum {START_DRAGGING, DRAGGING, RELEASED} pickup_mode;
+	HAPI::Collision::Point *pickedup_point;
+	HAPI::Collision::LineSegment *pickedup_line;
+	HAPI::Vec3 pickup_line_pos;
+	HAPI::Vec3 last_dragging_pos;
+
+	int attract_to;
+	enum {NO_ATTRACTION ,STOP_ATTRACTION, ACTIVE} attraction_mode;
+
+	bool object_unselected;
+	
+	/* how bigger graphic coordinates are than haptic coordinates */
+	static const int GRAPHIC_SCALE; 
+	static const int SPRING_FORCE_FACTOR;
+	static const int LINE_FORCE_FACTOR_LOOSE;
+	static const int LINE_FORCE_FACTOR_STICKY;
+	static const int POINT_FORCE_FACTOR;
+	static const double POINT_COLLISION_THRESHOLD;
+	static const double LINE_COLLISION_THRESHOLD;
+	static const double DRAGGING_SOUND_THRESHOLD;
+
+	/* commands sent to the java thread */
+	static const char MOVE_CMD;
+	static const char PLAY_SOUND_CMD;
+	static const char SPEAK_NAME_CMD;
+	static const char PICKUP_CMD;
+	static const char SPEAK_INFO_CMD;
+	static const char SELECT_CMD;
+	static const char UNSELECT_CMD;
+
+	/* arguments for PLAY_SOUND_CMD */
+	static const int LOOSE_MODE_SOUND;
+	static const int STICKY_MODE_SOUND;
+	static const int DRAGGING_SOUND;
+
+	static const HAPI::HAPIInt32 FRONT_BUTTON;
+	static const HAPI::HAPIInt32 LEFT_BUTTON;
+	static const HAPI::HAPIInt32 RIGHT_BUTTON;
+	static const HAPI::HAPIInt32 REAR_BUTTON;
+	static const HAPI::HAPIInt32 NO_BUTTON;
+public:
+	HapticManager(CollectionsManager * cManager, void (*func)(const jchar cmd, const jint ID, const jdouble startx, const jdouble starty, const jdouble endx, const jdouble endy)); 
+
+	/* try and initialize the haptic device, return false if the initialization fails */
+	bool init(void);
+
+	/* drawing routines (both graphically and haptically) */
+	void drawCursor(void);
+	void drawDiagram(bool redrawHapticsScene,bool pickup, int attract_to);
+
+	/* collisions routines: check if the proxy is touching a node or an edge  */
+	bool checkNodeCollision(void);
+	bool checkEdgeCollision(void);
+
+	/* check if an unselection command must be issued. Commands cannot be issued in the drawDiagram *
+	 * as it might possibly result in a deadlock. Therefore in drawDiagram the inner flag variable  *
+	 * object_unselected is set if necessary, and then when this method is called, the command is   *
+	 * issued if the flad was set to true */
+	bool checkUnselection(void);
+
+	/* check buttons routine */
+	bool checkButtons(void);
+
+	/* routine that plays chain sound during motion if an object is being dragged */
+	bool checkMotion();
+
+	/* release the allocated resources */
+	void dispose(void);
+
+	/* a null id value for Java nodes and edges. The id used for nodes and edges is *
+	 * the hashCode of the Java object, therefore a zero value will work for NO_ID  */
+	static const int NO_ID;
+};