fiore@3: #include "HapticManager.h"
fiore@3: 
fiore@3: #define NO_ERROR_SIMUL
fiore@3: 
fiore@3: 
fiore@3: void checkExceptions(void);
fiore@3: void stopExecution(char* msg);
fiore@3: 
fiore@3: bool movedNode = false;
fiore@3: 
fiore@3: 
fiore@3: void HLCALLBACK HapticManager::hlButton1CB(HLenum event, HLuint object,
fiore@3:                                          HLenum thread, HLcache *cache, 
fiore@3: 										 void *userdata)
fiore@3: {
fiore@3: 	HapticManager *pThis = static_cast<HapticManager*>(userdata);
fiore@3: 	if(object == pThis->wall1Id||object == pThis->wall2Id) // no event is associated to the wall 
fiore@3: 		return;
fiore@3: 	if(event != HL_EVENT_1BUTTONDOWN)
fiore@3: 		return;
fiore@3: 
fiore@3: 	/* check if it was a double click or not */
fiore@3: 	
fiore@3: 	clock_t time = clock();
fiore@3: 	if(pThis->clickStart == 0) // first click
fiore@3: 		pThis->clickStart = time; 
fiore@3: 	else if(time < (pThis->clickStart + CLICK_INTERVAL))
fiore@3: 		pThis->doubleClick = true;
fiore@3: 	
fiore@3: }
fiore@3: 
fiore@3: void HLCALLBACK HapticManager::hlButton2CB(HLenum event, HLuint object,
fiore@3:                                          HLenum thread, HLcache *cache, 
fiore@3: 										 void *userdata){
fiore@3: 	HapticManager *pThis = static_cast<HapticManager*>(userdata);
fiore@3: 	if(event == HL_EVENT_2BUTTONDOWN){
fiore@3: 		pThis->stickyMode = !pThis->stickyMode;
fiore@3: 		pThis->executeCommand('g', pThis->stickyMode ? 1 : 0,0,0,0,0);
fiore@3: 		/* we change mode to stickyMode, thus dragging becomes not active */
fiore@3: 		if(pThis->stickyMode && pThis->springStatus == DRAGGING){
fiore@3: 				pThis->springStatus = STOP_DRAGGING;
fiore@3: 				pThis->secondClick = false;
fiore@3: 		}
fiore@3: #ifdef VIBRATION
fiore@3: 		// vibrate 
fiore@3: 		if(pThis->vibrationStatus == NO_VIBRATION){
fiore@3: 			pThis->vibrationStatus = START_VIBRATION;
fiore@3: 		}
fiore@3: #endif
fiore@3: 	}
fiore@3: }
fiore@3: 
fiore@3: void HLCALLBACK HapticManager::hlTouchCB(HLenum event, HLuint object, HLenum thread,
fiore@3: 										 HLcache *cache, void *userdata)
fiore@3: {
fiore@3: 	HapticManager *pThis = static_cast<HapticManager*>(userdata);
fiore@3: 	if(object == pThis->wall1Id||object == pThis->wall2Id) // no event is associated to the wall 
fiore@3: 		return;
ccmi-guest@8: 
fiore@3: 	if(pThis->lastMovedElement == object){
fiore@3: 		pThis->stillTouchingLastMovedElement = true;
fiore@3: 	}
fiore@3: 	
fiore@3: 	try{
fiore@3: 		// check if the touched object is an edge
fiore@3: 		if(pThis->collectionsManager->isEdge(object)){
fiore@3: 			CollectionsManager::EdgeData & ed = pThis->collectionsManager->getEdgeDataFromID(object);
fiore@3: 			pThis->lastTouchedEdgeID = object;
fiore@3: 			pThis->lastTouchedEdgeIsUntouched = false;
ccmi-guest@8: 
fiore@3: 			pThis->lastTouchedEdgeStipplePattern = ed.stipplePattern;
fiore@3: 			// check if the proxy is still touching the edge's node, in that case only play the sound
fiore@3: 			HLboolean isTouching = HL_FALSE;
fiore@3: 			if(pThis->lastTouchedNodeID != HL_OBJECT_ANY){
fiore@3: 				hlGetShapeBooleanv(pThis->lastTouchedNodeID,HL_PROXY_IS_TOUCHING,&isTouching);
fiore@3: 			}
fiore@3: 			/* play the sound and speech associated to the edge */
fiore@3: 			if((isTouching == HL_TRUE||pThis->stillTouchingLastMovedElement) && (object != pThis->attractToHapticId)){
fiore@3: 				if(!pThis->stickyMode)
fiore@3: 					pThis->executeCommand('p',ed.diagramId,0,0,0,0); // just plays the sound
fiore@3: 			}else{
fiore@3: 				pThis->executeCommand('s',ed.diagramId,0,0,0,0);
fiore@3: 				pThis->lastHighlightElementID = object;
fiore@3: 				pThis->executeCommand('t',ed.diagramId,0,0,0,0); // speaks the edge's name
fiore@3: 			}
fiore@3: 		}else{ // it's a node 
fiore@3: 			pThis->lastTouchedNodeID = object;
fiore@3: 			CollectionsManager::NodeData & nd = pThis->collectionsManager->getNodeDataFromID(object);
fiore@3: 			pThis->lastTouchedNodePosition[0] = nd.x;
fiore@3: 			pThis->lastTouchedNodePosition[1] = nd.y;
fiore@3: 			pThis->lastTouchedNodePosition[2] = 0;
fiore@3: 			pThis->frictionDisabled = true;
fiore@3: 			pThis->executeCommand('s',nd.diagramId,0,0,0,0);
fiore@3: 			pThis->lastHighlightElementID = object;
fiore@3: 			pThis->executeCommand('t',nd.diagramId,0,0,0,0);
fiore@3: 		}	
fiore@3: 	}catch(int){
fiore@3: 		stopExecution("Touch Call Back: Could not retrieve element from ID");
fiore@3: 	}
fiore@3: }
fiore@3: 
fiore@3: void HLCALLBACK HapticManager::hlUntouchCB(HLenum event, HLuint object, HLenum thread,
fiore@3: 										   HLcache *cache, void *userdata)
fiore@3: {
fiore@3: 	HapticManager *pThis = static_cast<HapticManager*>(userdata);
fiore@3: 	if(object == pThis->wall1Id||object == pThis->wall2Id) // no event is associated to the wall 
fiore@3: 		return;
ccmi-guest@8: 
fiore@3: 	if(object == pThis->lastMovedElement){
fiore@3: 		pThis->lastMovedElement = HL_OBJECT_ANY;
fiore@3: 		pThis->stillTouchingLastMovedElement = false;
fiore@3: 	}
fiore@3: 	if(pThis->lastHighlightElementID == object){
fiore@3: 		pThis->lastHighlightElementID = HL_OBJECT_ANY;
fiore@3: 		pThis->executeCommand('u',0,0,0,0,0);
fiore@3: 	}
ccmi-guest@8: 
fiore@3: 	if(pThis->lastTouchedEdgeID == object){
fiore@3: 		pThis->lastTouchedEdgeIsUntouched = true;
fiore@3: 	}
fiore@3: }
fiore@3: 
fiore@3: 
fiore@3: void HLCALLBACK HapticManager::hlMotionCB(HLenum event, HLuint object, HLenum thread,
fiore@3: 										   HLcache *cache, void *userdata)
fiore@3: {
fiore@3: 	HapticManager *pThis = static_cast<HapticManager*>(userdata);
fiore@3: 	
fiore@3: 	/* plays the sound to acknowledge the user they're dragging an element around */
fiore@3: 	static int onceinawhile = 0;
fiore@3: 	if(pThis->springStatus == DRAGGING){
fiore@3: 		onceinawhile = (onceinawhile+1)%5;
fiore@3: 		if(!onceinawhile)
fiore@3: 			pThis->executeCommand('g',3,0,0,0,0);
fiore@3: 	}
fiore@3: 	
fiore@3: 	/* the following code is to play element speech when taking a path through an edge starting from a connected node */
fiore@3: 	
fiore@3: 	/* friction is disabled when we land on a node. If proxy ain't on a node, then just return  */
fiore@3: 	/* else it would play every time we move along the edge even if not detouching from a node  */
fiore@3: 	if(!pThis->frictionDisabled){
fiore@3: 		return;
fiore@3: 	}
fiore@3: 
fiore@3: 	/* calculate the distance between the node, the stylus was on, and the current proxy position after moving out from it*/
fiore@3: 	HLdouble proxyPosition[3];
fiore@3: 	hlGetDoublev(HL_DEVICE_POSITION,proxyPosition);
fiore@3: 	proxyPosition[0] -= pThis->lastTouchedNodePosition[0];
fiore@3: 	proxyPosition[1] -= pThis->lastTouchedNodePosition[1];
fiore@3: 	proxyPosition[2] -= pThis->lastTouchedNodePosition[2];
fiore@3: 	if(pThis->lastTouchedEdgeID != HL_OBJECT_ANY){
fiore@3: 		if(norm(proxyPosition) > EDGE_SPEECH_DISTANCE_WHEN_LEAVING_NODE){
fiore@3: 			pThis->frictionDisabled = false;
fiore@3: 			HLboolean isTouching;
fiore@3: 			hlGetShapeBooleanv(pThis->lastTouchedEdgeID,HL_PROXY_IS_TOUCHING,&isTouching);
fiore@3: 			if(isTouching == HL_TRUE){
fiore@3: 				try{
fiore@3: 					CollectionsManager::EdgeData & ed = pThis->collectionsManager->getEdgeDataFromID(pThis->lastTouchedEdgeID);
fiore@3: 					pThis->executeCommand('t',ed.diagramId,0,0,0,0);
fiore@3: 					pThis->lastTouchedEdgeID = ed.hapticId;
fiore@3: 					pThis->lastHighlightElementID = ed.hapticId;
fiore@3: 					pThis->executeCommand('s',ed.diagramId,0,0,0,0);
fiore@3: 				}catch(int){
fiore@3: 					stopExecution("Button 1 callback: Could not retrieve edge from ID");
fiore@3: 				}
fiore@3: 			}
fiore@3: 		}
fiore@3: 	}
fiore@3: }
fiore@3: 
fiore@3: #ifdef VIBRATION
fiore@3: void HLCALLBACK HapticManager::vibrationCB(HDdouble force[3], HLcache *cache, void *userdata){
fiore@3: 	static const hduVector3Dd direction( 0, 1, 0 );
fiore@3:     HDdouble instRate;
fiore@3:     static HDdouble timer = 0;
fiore@3: 
fiore@3: 	HapticManager *pThis = static_cast<HapticManager*>(userdata);
fiore@3: 
fiore@3:     /* Use the reciprocal of the instantaneous rate as a timer. */
fiore@3:     hdGetDoublev(HD_INSTANTANEOUS_UPDATE_RATE, &instRate);
fiore@3:     timer += 1.0 / instRate;
fiore@3: 
fiore@3:     /* Apply a sinusoidal force in the direction of motion. */
fiore@3:     hduVecScale(force, direction, VIBRATION_AMPLITUDE * sin(timer * VIBRATION_FREQUENCY));
fiore@3:     hdSetDoublev(HD_CURRENT_FORCE, force);
fiore@3: }
fiore@3: 
fiore@3: void HLCALLBACK HapticManager::beforeVibrationCB(HLcache *cache, void *userdata){}
fiore@3: 
fiore@3: void HLCALLBACK HapticManager::afterVibrationCB(HLcache *cache, void *userdata){}
fiore@3: #endif
fiore@3: 
fiore@3: void HapticManager::init(void) throw(HapticException){
fiore@3: 	HDErrorInfo error;
fiore@3: 
fiore@3:     ghHD = hdInitDevice(HD_DEFAULT_DEVICE);
fiore@3:     if (HD_DEVICE_ERROR(error = hdGetError())){
fiore@3:         throw HapticException();
fiore@3:     }
fiore@3:     
fiore@3:     ghHLRC = hlCreateContext(ghHD);
fiore@3:     hlMakeCurrent(ghHLRC);
fiore@3: 
fiore@3:     // Enable optimization of the viewing parameters when rendering geometry for OpenHaptics.
fiore@3:     hlEnable(HL_HAPTIC_CAMERA_VIEW);
fiore@3: 
fiore@3:     hlTouchableFace(HL_FRONT);
fiore@3: 	wall1Id = hlGenShapes(1);
fiore@3: 	wall2Id = hlGenShapes(1);
fiore@3: 	attractToHapticId = HL_OBJECT_ANY;
fiore@3: 	lastTouchedNodeID = HL_OBJECT_ANY;
fiore@3: 	lastTouchedEdgeID = HL_OBJECT_ANY;
fiore@3: 	draggedElementID = HL_OBJECT_ANY;
fiore@3: 	lastHighlightElementID = HL_OBJECT_ANY;
fiore@3: 
fiore@3: 	// initialize effects
fiore@3: 	frictionFX = hlGenEffects(1);
fiore@3: 	vibrationFX = hlGenEffects(1);
fiore@3: 	attractionFX = hlGenEffects(1);
fiore@3: 	springFX = hlGenEffects(1);
fiore@3: 	displayList1 = 0;
fiore@3: 	displayList2 = 0;
fiore@3: 	hlEventd(HL_EVENT_MOTION_LINEAR_TOLERANCE,5);
fiore@3: 	hlEventd(HL_EVENT_MOTION_ANGULAR_TOLERANCE,5);
fiore@3: 
fiore@3: 	// add callbacks 
fiore@3: 	hlAddEventCallback(HL_EVENT_2BUTTONDOWN,HL_OBJECT_ANY,HL_CLIENT_THREAD,hlButton2CB,this);
fiore@3: 	hlAddEventCallback(HL_EVENT_2BUTTONUP,HL_OBJECT_ANY,HL_CLIENT_THREAD,hlButton2CB,this);
fiore@3: 	hlAddEventCallback(HL_EVENT_1BUTTONUP,HL_OBJECT_ANY,HL_CLIENT_THREAD,hlButton1CB,this);
fiore@3: 	hlAddEventCallback(HL_EVENT_1BUTTONDOWN,HL_OBJECT_ANY,HL_CLIENT_THREAD,hlButton1CB,this);
fiore@3: 	hlAddEventCallback(HL_EVENT_TOUCH, HL_OBJECT_ANY, HL_CLIENT_THREAD, hlTouchCB, this);
fiore@3: 	hlAddEventCallback(HL_EVENT_UNTOUCH, HL_OBJECT_ANY, HL_CLIENT_THREAD, hlUntouchCB, this);
fiore@3: 	hlAddEventCallback(HL_EVENT_MOTION, HL_OBJECT_ANY, HL_CLIENT_THREAD, hlMotionCB, this);
fiore@3: 
fiore@3: #ifdef VIBRATION
fiore@3: 	hlBeginFrame();
fiore@3: 	hlCallback(HL_EFFECT_START,(HLcallbackProc) beforeVibrationCB, this);
fiore@3: 	hlCallback(HL_EFFECT_STOP,(HLcallbackProc) afterVibrationCB, this);
fiore@3:     hlCallback(HL_EFFECT_COMPUTE_FORCE, (HLcallbackProc) vibrationCB, this);
fiore@3: 	hlEndFrame();
fiore@3: #endif
fiore@3: }
fiore@3: 
fiore@3: HapticManager::ClickStatus HapticManager::getButton1Status(){
fiore@3: 	if(clickStart == 0){
fiore@3: 		return NO_CLICK;
fiore@3: 	}else if(doubleClick){
fiore@3: 		/* double click: set everything back to default value and return DOUBLE_CLICK */
fiore@3: 		clickStart = 0;
fiore@3: 		doubleClick = false;
fiore@3: 		return TWO_CLICK;
fiore@3: 	}else if(clock() >= clickStart + CLICK_INTERVAL || secondClick) {
fiore@3: 		/* one click and enough time elapsed, so that it cannot be a double click */
fiore@3: 		clickStart = 0;
fiore@3: 		return ONE_CLICK;
fiore@3: 	}
fiore@3: 	return NO_CLICK;
fiore@3: }
fiore@3: 
fiore@3: void HapticManager::doButton1Click(bool doubleClick){
fiore@3: 	/* DOUBLE CLICK*/
fiore@3: 	if(doubleClick){
fiore@3: 		if(lastTouchedNodeID != HL_OBJECT_ANY){
fiore@3: 			HLboolean isTouching = HL_FALSE;
fiore@3: 			hlGetShapeBooleanv(lastTouchedNodeID,HL_PROXY_IS_TOUCHING,&isTouching); // priority to nodes
fiore@3: 			if(isTouching == HL_TRUE||lastTouchedNodeID == lastMovedElement){
fiore@3: 				try{
fiore@3: 					CollectionsManager::NodeData & nd = collectionsManager->getNodeDataFromID(lastTouchedNodeID);
fiore@3: 					executeCommand('i',nd.diagramId, 0,0,0,0);
fiore@3: 				}catch(int){
fiore@3: 					stopExecution("Button 1 callback: Could not retrieve node from ID");
fiore@3: 				}
fiore@3: 			}else{
fiore@3: 				if(lastTouchedEdgeID != HL_OBJECT_ANY){
fiore@3: 					hlGetShapeBooleanv(lastTouchedEdgeID,HL_PROXY_IS_TOUCHING,&isTouching);
fiore@3: 					if(isTouching == HL_TRUE||lastTouchedNodeID == lastMovedElement){
fiore@3: 						try{
fiore@3: 							CollectionsManager::EdgeData & ed = collectionsManager->getEdgeDataFromID(lastTouchedEdgeID);
fiore@3: 							executeCommand('i',ed.diagramId, 0,0,0,0);
fiore@3: 						}catch(int){
fiore@3: 							stopExecution("Button 1 callback: Could not retrieve edge from ID");
fiore@3: 						}
fiore@3: 					}
fiore@3: 				}
fiore@3: 			}
fiore@3: 		}
fiore@3: 		// this was a double click, thus clean up the data about the dragging
fiore@3: 		if(springStatus == DRAGGING){
fiore@3: 			springStatus = STOP_DRAGGING;
fiore@3: 			secondClick = false;
fiore@3: 		}
fiore@3: 		return;			
fiore@3: 	}
fiore@3: 	
fiore@3: 	/* - SINLGE CLICK - */
fiore@3: 	if(!secondClick){ //  button 1 pressed for the first time 
fiore@3: 		HLboolean isTouching;
fiore@3: 		/* if the stylus is touching a node then pick it up */
fiore@3: 		/* give priority to nodes */
fiore@3: 		if(lastTouchedNodeID != HL_OBJECT_ANY){
fiore@3: 			hlGetShapeBooleanv(lastTouchedNodeID,HL_PROXY_IS_TOUCHING,&isTouching);
fiore@3: 			if(isTouching == HL_TRUE || (stillTouchingLastMovedElement&&lastMovedElement == lastTouchedNodeID)){
fiore@3: 				draggedElementID = lastTouchedNodeID;
fiore@3: 				try{
fiore@3: 					CollectionsManager::NodeData & nd = collectionsManager->getNodeDataFromID(lastTouchedNodeID);
fiore@3: 					executeCommand('c',nd.diagramId,0,0,0,0); // pick up command
fiore@3: 				}catch(int){
fiore@3: 					stopExecution("Button 1 callback: Could not retrieve node from ID");
fiore@3: 				}
fiore@3: 				return;
fiore@3: 			}
fiore@3: 		}
fiore@3: 		/* no node is currently touched, check the edges now */
fiore@3: 		if(collectionsManager->isEdge(lastTouchedEdgeID)){
fiore@3: 			hlGetShapeBooleanv(lastTouchedEdgeID,HL_PROXY_IS_TOUCHING,&isTouching);
fiore@3: 			if(isTouching == HL_TRUE||(stillTouchingLastMovedElement&&lastMovedElement == lastTouchedEdgeID)){
fiore@3: 				draggedElementID = lastTouchedEdgeID;
fiore@3: 				try{
fiore@3: 					CollectionsManager::EdgeData & ed = collectionsManager->getEdgeDataFromID(lastTouchedEdgeID);
fiore@3: 					executeCommand('c',ed.diagramId,0,0,0,0); // pick up command
fiore@3: 				}catch(int){
fiore@3: 					stopExecution("Button 1 callback: Could not retrieve edge from ID");
fiore@3: 				}
fiore@3: 			}
fiore@3: 		}
fiore@3: 	}else{ // button 1 pressed for the second time 
fiore@3: 		if(springStatus != DRAGGING)
fiore@3: 			return;
fiore@3: 		springStatus = STOP_DRAGGING;
fiore@3: 		HLdouble leanPoint[3];
fiore@3: 		hlGetDoublev(HL_PROXY_POSITION,leanPoint);
fiore@3: 		leanPoint[2] = 1;
fiore@3: 		hduVector3Dd winCoordPoint;				
fiore@3: 		toScreen(hduVector3Dd(leanPoint),winCoordPoint);
fiore@3: 		
fiore@3: 		try{
fiore@3: 			if(collectionsManager->isNode(draggedElementID)){
fiore@3: 				CollectionsManager::NodeData & nd = collectionsManager->getNodeDataFromID(draggedElementID);
fiore@3: 				movedNode = true;
fiore@3: 				executeCommand('m',nd.diagramId,winCoordPoint[0],collectionsManager->getScreenHeight() - winCoordPoint[1],0,0);
fiore@3: 			}else if(collectionsManager->isEdge(draggedElementID)){ // double check necessary for the user might have changed the tab or closed the window before releasing the spring 		
fiore@3: 				springStart[2] = 1;
fiore@3: 				hduVector3Dd startWinCoordPoint;
fiore@3: 				toScreen(hduVector3Dd(springStart),startWinCoordPoint);//it's an edge, we also need the point where the motion has started
fiore@3: 				CollectionsManager::EdgeData & ed = collectionsManager->getEdgeDataFromID(draggedElementID);
fiore@3: 				executeCommand('m', ed.diagramId, 
fiore@3: 					winCoordPoint[0],
fiore@3: 					collectionsManager->getScreenHeight() - winCoordPoint[1],
fiore@3: 					startWinCoordPoint[0],
fiore@3: 					collectionsManager->getScreenHeight() - startWinCoordPoint[1]
fiore@3: 				);
fiore@3: 			}
fiore@3: 		}catch(int){
fiore@3: 			stopExecution("Button 1 callback: Could not retrieve element from ID");
fiore@3: 		}
fiore@3: 		/* with second click we place the element and it becomes the last moved element */
fiore@3: 		lastMovedElement = draggedElementID;
fiore@3: 		secondClick = false;
fiore@3: 	}
fiore@3: }
fiore@3: 
fiore@3: void HapticManager::setAttractTo(jint hapticId){
fiore@3: 	if(attractionStatus == NO_ATTRACTION) // starts only if there is no previous attraction being overwritten
fiore@3: 		attractionStatus = START_ATTRACTION;	
fiore@3: 	attractToHapticId = hapticId;
fiore@3: 	alreadyTouchingAttractingElement = false;
fiore@3: }
fiore@3: 
fiore@3: void HapticManager::pickUp(jint hapticId){
fiore@3: 	springStatus = START_DRAGGING;
fiore@3: 	secondClick = true;
fiore@3: 	hlGetDoublev(HL_PROXY_POSITION,springStart);
fiore@3: }
fiore@3: 
fiore@3: bool HapticManager::wasAlreadyTouchingAttractingElement(){
fiore@3: 	return alreadyTouchingAttractingElement;
fiore@3: }
fiore@3: 
fiore@3: void HapticManager::draw(void){
fiore@3: 	// Start haptic frame.  (Must do this before rendering any haptic shapes.)
fiore@3:     hlBeginFrame();   
fiore@3: 
fiore@3: 	if(!doneOnce){
fiore@3: 		hlStartEffect(HL_EFFECT_FRICTION, frictionFX);
fiore@3: 		doneOnce = true;
fiore@3: 	}
fiore@3: 
fiore@3: 	if(wall){
fiore@3: 		// Plane shape.
fiore@3: 		hlPushAttrib(HL_MATERIAL_BIT|HL_TOUCH_BIT);
fiore@3: 		hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, wall1Id);
fiore@3: 		hlMaterialf(HL_FRONT_AND_BACK, HL_STIFFNESS, 1);
fiore@3: 		hlMaterialf(HL_FRONT, HL_POPTHROUGH, 0 );
fiore@3: 		hlMaterialf(HL_FRONT, HL_STATIC_FRICTION, 0);
fiore@3: 		hlMaterialf(HL_FRONT, HL_DYNAMIC_FRICTION, 0);
fiore@3: 		hlTouchModel(HL_CONTACT);
fiore@3: 		hlTouchableFace(HL_FRONT);
fiore@3: 		drawPlane(-0.005);
fiore@3: 		hlEndShape();
fiore@3: #define SECOND_PLANE
fiore@3: #ifdef SECOND_PLANE
fiore@3: 		hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, wall2Id);
fiore@3: 		hlMaterialf(HL_BACK, HL_STIFFNESS, 1);
fiore@3: 		hlTouchableFace(HL_BACK);
fiore@3: 		hlMaterialf(HL_FRONT, HL_POPTHROUGH, 0 );
fiore@3: 		hlMaterialf(HL_FRONT, HL_STATIC_FRICTION, 0);
fiore@3: 		hlMaterialf(HL_FRONT, HL_DYNAMIC_FRICTION, 0);
fiore@3: 		drawPlane(0.005);
fiore@3: 		hlEndShape();
fiore@3: #endif
fiore@3: 		hlPopAttrib();
fiore@3: 	}
fiore@3: 
fiore@3:     // Start a new haptic shape.  Use the feedback buffer to capture OpenGL 
fiore@3:     // geometry for haptic rendering.
fiore@3: 
fiore@3: 	// draw nodes
fiore@3: 	int size = collectionsManager->getNodesNum();
fiore@3: 	
fiore@3: 	for(int i=0; i< size;i++){
fiore@3: 		CollectionsManager::NodeData & nd = collectionsManager->getNodeData(i);
fiore@3: 
fiore@3: 		hlPushAttrib(HL_HINT_BIT);
fiore@3: 		hlHinti(HL_SHAPE_FEEDBACK_BUFFER_VERTICES, 3);
fiore@3: 		hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, nd.hapticId);
fiore@3: 		 hlTouchModel(HL_CONSTRAINT);
fiore@3: 		 hlTouchModelf(HL_SNAP_DISTANCE ,  4.0f );
fiore@3: 		 hlMaterialf(HL_FRONT_AND_BACK, HL_STIFFNESS, 1.0);
fiore@3: 		 hlMaterialf(HL_FRONT_AND_BACK, HL_DAMPING, 0);
fiore@3: 
fiore@3: 		 hlMaterialf(HL_FRONT_AND_BACK, HL_STATIC_FRICTION, 0);
fiore@3: 		 hlMaterialf(HL_FRONT_AND_BACK, HL_DYNAMIC_FRICTION, 0);
fiore@3: 
fiore@3: 		 //draw the point
fiore@3: 		 glBegin(GL_POINTS);
fiore@3: 		  glVertex3d(nd.x,nd.y,0);
fiore@3: 		 glEnd();
fiore@3: 		 
fiore@3: 		// End the shape.
fiore@3: 		hlEndShape();
fiore@3: 		hlPopAttrib();
fiore@3: 
fiore@3: 		// saves the coorinates for a later use so that for the effect we don't need to cycle again
fiore@3: 		if(attractionStatus == START_ATTRACTION || attractionStatus == DOING_ATTRACTION){
fiore@3: 			if(nd.hapticId == attractToHapticId){
fiore@3: 				attractToCoord[0] = nd.x;
fiore@3: 				attractToCoord[1] = nd.y;
fiore@3: 				attractToCoord[2] = 0;
fiore@3: 			}
fiore@3: 		}
fiore@3: 	}
fiore@3: 
fiore@5: 	/*  draw lines. When a node is moved, edges are not drawn for the very first haptic frame after the shift.   *
fiore@3: 	 *  This is to address the behaviour of the device which, after a n ode is moved cannot see the styilus     *
fiore@3: 	 *  touching the edge. As a consequence of that in hlMotionCB() when moving away from a node along an edge  *
fiore@3: 	 *  no edge name will be spoken and furthermore the pick up botton won't work as the device thinks it's not *  
fiore@3: 	 *  touching anything. Not drawing the edge on the first frame, seems to address this issue.                */
fiore@3: 	if(!movedNode) {
fiore@3: 		size = collectionsManager->getEdgesNum();
fiore@3: 		for(int i = 0; i<size; i++){
fiore@3: 			CollectionsManager::EdgeData & ed = collectionsManager->getEdgeData(i);
fiore@3: 			hlPushAttrib(HL_HINT_BIT|HL_MATERIAL_BIT);
fiore@3: 			hlHinti(HL_SHAPE_FEEDBACK_BUFFER_VERTICES, ed.getSize());
fiore@3: 
fiore@3: 			hlBeginShape(HL_SHAPE_FEEDBACK_BUFFER, ed.hapticId);
fiore@3: 			hlTouchModel(HL_CONSTRAINT);
fiore@3: 			hlTouchModelf(HL_SNAP_DISTANCE, ( (stickyMode && springStatus != DRAGGING && springStatus != START_DRAGGING)  ? 20.0f : 3.5f ));
fiore@3: 			hlMaterialf(HL_FRONT_AND_BACK, HL_STIFFNESS, 1);
fiore@3: 			
fiore@3: 			if(ed.stipplePattern == 0xFFFF){
fiore@3: 				hlMaterialf(HL_FRONT_AND_BACK, HL_STATIC_FRICTION, 0.5f);
fiore@3: 			}
fiore@3: 
fiore@3: 			glLineWidth(1.0);
fiore@3: 			
fiore@3: 			glBegin(GL_LINES);
fiore@3: 			 for(unsigned int j = 0; j < ed.getSize(); j++){
fiore@3: 				for(unsigned int k = j; k < ed.getSize(); k++){
fiore@3: 					if(ed.adjMatrix[j][k]){
fiore@3: 						if(  k >= ed.nodeStart && 
fiore@3: 							   (!stickyMode || (springStatus != RELEASED && springStatus != STOP_DRAGGING))
fiore@3: 							   && attractionStatus != DOING_ATTRACTION && attractionStatus != START_ATTRACTION){ // not a line connecting two edges and stickyMode not enabled
fiore@3: 							/* it's drawing a line from a point to a node, thus it draws it a little shorter*/
fiore@3: 							double hypotenuse = sqrt( (ed.x[j] - ed.x[k])*(ed.x[j] - ed.x[k]) + (ed.y[j] - ed.y[k])*(ed.y[j] - ed.y[k]));		
fiore@3: 							if(hypotenuse == 0)
fiore@3: 								continue;
fiore@3: 							double mySin = (ed.y[j] - ed.y[k])/hypotenuse;
fiore@3: 							double myCos = (ed.x[j] - ed.x[k])/hypotenuse; 
fiore@3: 							glVertex3d(ed.x[k]+(EDGE_SHORTEND_VAL * myCos) , ed.y[k]+(EDGE_SHORTEND_VAL*mySin),0);
fiore@3: 							if(j >= ed.nodeStart) //its a direct edge connecting two nodes 
fiore@3: 								glVertex3d(ed.x[j]+(EDGE_SHORTEND_VAL * -myCos),ed.y[j]+(EDGE_SHORTEND_VAL*-mySin),0);
fiore@3: 							else
fiore@3: 								glVertex3d(ed.x[j],ed.y[j],0);
fiore@3: 						}else{
fiore@3: 							glVertex3d(ed.x[j],ed.y[j],0);
fiore@3: 							glVertex3d(ed.x[k],ed.y[k],0);
fiore@3: 						}
fiore@3: 					}
fiore@3: 				}
fiore@3: 			}
fiore@3: 			glEnd();
fiore@3: 			hlEndShape();
fiore@3: 			hlPopAttrib();
fiore@3: 
fiore@3: 			// saves the coorinates for a later use so that for the effect we don't need to cycle again
fiore@3: 			if(attractionStatus == START_ATTRACTION || attractionStatus == DOING_ATTRACTION){
fiore@3: 				if(ed.hapticId == attractToHapticId){
fiore@3: 					attractToCoord[0] = ed.attractPoint[0];
fiore@3: 					attractToCoord[1] = ed.attractPoint[1];
fiore@3: 					attractToCoord[2] = 0;
fiore@3: 				}
fiore@3: 			}
fiore@3: 		}
fiore@3: 	}else {
fiore@3: 		movedNode = false;
fiore@3: 	}
fiore@3: 	/* ---  FORCES --- */
fiore@3: 	/* friction */
fiore@3: 	if(lastTouchedEdgeID != HL_OBJECT_ANY){
fiore@3: 		/* check if the edge is still there, it might not as the tab could be changed */
fiore@3: 		if(collectionsManager->isEdge(lastTouchedEdgeID)){
ccmi-guest@8: 			if(frictionDisabled||lastTouchedEdgeIsUntouched){
ccmi-guest@8: 					hlEffectd(HL_EFFECT_PROPERTY_MAGNITUDE, 0); // none 
fiore@3: 					hlEffectd(HL_EFFECT_PROPERTY_GAIN, 0);
fiore@3: 				}else{
fiore@3: 					if(lastTouchedEdgeStipplePattern == 0xAAAA){ // dotted
fiore@3: 						hlEffectd(HL_EFFECT_PROPERTY_MAGNITUDE, 0.4f);
fiore@3: 						hlEffectd(HL_EFFECT_PROPERTY_GAIN, 1);
fiore@3: 					}else if(lastTouchedEdgeStipplePattern == 0xF0F0){ // dashed
fiore@3: 						hlEffectd(HL_EFFECT_PROPERTY_MAGNITUDE, 0.6);
fiore@3: 						hlEffectd(HL_EFFECT_PROPERTY_GAIN, 0.6);
ccmi-guest@8: 					}else{
ccmi-guest@8: 						hlEffectd(HL_EFFECT_PROPERTY_MAGNITUDE, 0); // solid
ccmi-guest@8: 					    hlEffectd(HL_EFFECT_PROPERTY_GAIN, 0);
fiore@3: 					}
fiore@3: 			}
fiore@3: 		}else{
fiore@3: 			lastTouchedEdgeID = HL_OBJECT_ANY;
fiore@3: 			hlEffectd(HL_EFFECT_PROPERTY_MAGNITUDE, 0);
fiore@3: 			hlEffectd(HL_EFFECT_PROPERTY_GAIN, 0);
fiore@3: 		}
fiore@3: 		hlUpdateEffect(frictionFX); 
fiore@3: 	}
fiore@3: 
fiore@3: 	// spring 
fiore@3: 	if(springStatus == START_DRAGGING){
fiore@3: 		hlPushAttrib(HL_EFFECT_BIT);
fiore@3: 		hlEffectd(HL_EFFECT_PROPERTY_GAIN, 0.3);
fiore@3: 		hlEffectd(HL_EFFECT_PROPERTY_MAGNITUDE, 0.5);
fiore@3: 		
fiore@3: 		hduMatrix worldToView;
fiore@3: 		hduMatrix graphicToTouch;
fiore@3: 		hduMatrix touchToWorkspace;
fiore@3: 		hduMatrix WorldToDevice;
fiore@3: 		glMatrixMode(GL_MODELVIEW);
fiore@3: 		glGetDoublev(GL_MODELVIEW_MATRIX,worldToView);
fiore@3: 		hlGetDoublev(HL_VIEWTOUCH_MATRIX, graphicToTouch );
fiore@3: 		hlGetDoublev(HL_TOUCHWORKSPACE_MATRIX, touchToWorkspace );
fiore@3: 		WorldToDevice = worldToView * graphicToTouch * touchToWorkspace;
fiore@3: 
fiore@3: 		hduVector3Dd dst;
fiore@3: 		WorldToDevice.multVecMatrix(hduVector3Dd(springStart[0],springStart[1],0),dst);
fiore@3: 		
fiore@3: 		hlEffectdv(HL_EFFECT_PROPERTY_POSITION, dst);
fiore@3: 		hlStartEffect(HL_EFFECT_SPRING, springFX);
fiore@3: 		hlPopAttrib();
fiore@3: 		springStatus = DRAGGING;
fiore@3: 	}else if(springStatus == STOP_DRAGGING){
fiore@3: 		hlStopEffect(springFX);
fiore@3: 		springStatus = RELEASED;
fiore@3: 	}
fiore@3: 	
fiore@3: 	// attraction 
fiore@3: 	HLboolean isTouching = HL_FALSE;
fiore@3: 	if(attractionStatus == DOING_ATTRACTION || attractionStatus == START_ATTRACTION){
fiore@3: 		/* we need to be sure we're currently touching the element */
fiore@3: 		if(attractToHapticId != HL_OBJECT_ANY){
fiore@3: 			hlGetShapeBooleanv(attractToHapticId,HL_PROXY_IS_TOUCHING,&isTouching);
fiore@3: 		}
fiore@3: 		
fiore@3: 		// when touching the element we're getting attracted to, then shut the force down
fiore@3: 		if(isTouching == HL_TRUE){ 
fiore@3: 			if(attractionStatus == DOING_ATTRACTION){ // we finally reached the attracting node
fiore@3: 				attractionStatus = STOP_ATTRACTION;
fiore@3: 			}else{
fiore@3: 				attractionStatus = NO_ATTRACTION; // we were already touching the node we wanted to get attracted to 
fiore@3: 				alreadyTouchingAttractingElement = true;
fiore@3: 			}
fiore@3: 		}
fiore@3: 	}
fiore@3: 
fiore@3: 	if(attractionStatus == STOP_ATTRACTION){
fiore@3: 		attractionStatus = NO_ATTRACTION;
fiore@3: 	    hlStopEffect(attractionFX);
fiore@3: 	} else if(attractionStatus == START_ATTRACTION || attractionStatus == DOING_ATTRACTION){
fiore@3: 		HLdouble devicePosition[3];
fiore@3: 		HDdouble direction[3];
fiore@3: 		hlGetDoublev(HL_DEVICE_POSITION,devicePosition);
fiore@3: 		direction[0] = attractToCoord[0] - devicePosition[0];
fiore@3: 		direction[1] = attractToCoord[1] - devicePosition[1];
fiore@3: 		direction[2] = attractToCoord[2] - devicePosition[2];
fiore@3: 		HDdouble directionNorm = norm(direction);
fiore@3: 		if(directionNorm != 0 ){
fiore@3: 			direction[0] /= directionNorm;
fiore@3: 			direction[1] /= directionNorm;
fiore@3: 			direction[2] /= directionNorm;
fiore@3: 		}
fiore@3: 		hlPushAttrib(HL_EFFECT_BIT);
fiore@3: 		hlEffectdv(HL_EFFECT_PROPERTY_DIRECTION, direction);
fiore@3: 		hlEffectd(HL_EFFECT_PROPERTY_GAIN, 0.5f);
fiore@3: 		hlEffectd(HL_EFFECT_PROPERTY_MAGNITUDE, 0.5f);
fiore@3: 		if(attractionStatus == START_ATTRACTION){
fiore@3: 			hlStartEffect(HL_EFFECT_CONSTANT, attractionFX);
fiore@3: 			attractionStatus = DOING_ATTRACTION;
fiore@3: 		}else{
fiore@3: 			hlUpdateEffect(attractionFX);
fiore@3: 		}
fiore@3: 		hlPopAttrib();
fiore@3: 	}
fiore@3: #ifdef VIBRATION
fiore@3: 	if(vibrationStatus == START_VIBRATION){
fiore@3: 		hlStartEffect(HL_EFFECT_CALLBACK, vibrationFX);
fiore@3: 		vibrationEnd = clock() + VIBRATION_DURATION;
fiore@3: 		vibrationStatus = DOING_VIBRATION;
fiore@3: 	}else if(vibrationStatus == DOING_VIBRATION){
fiore@3: 		if(clock() >= vibrationEnd){
fiore@3: 			hlStopEffect(vibrationFX);
fiore@3: 			vibrationStatus = NO_VIBRATION;
fiore@3: 		}
fiore@3: 	}
fiore@3: #endif
fiore@3:     // End the haptic frame.
fiore@3:     hlEndFrame();
fiore@3: }
fiore@3: 
fiore@3: void HapticManager::drawPlane(float zoffset){
fiore@3: 	GLuint displayList = (zoffset < 0) ? displayList1 : displayList2;
fiore@3: 
fiore@3: 	if (displayList){
fiore@3: 		glCallList(displayList);
fiore@3: 	}
fiore@3: 	else{
fiore@3: 		if(zoffset < 0){
fiore@3: 			displayList1 = glGenLists(1);
fiore@3: 			glNewList(displayList1, GL_COMPILE_AND_EXECUTE);
fiore@3: 		}else{
fiore@3: 			displayList2 = glGenLists(1);
fiore@3: 			glNewList(displayList2, GL_COMPILE_AND_EXECUTE);
fiore@3: 		}	
fiore@3: 		glNewList(displayList, GL_COMPILE_AND_EXECUTE);
fiore@3: 		glPushAttrib(GL_ENABLE_BIT);
fiore@3: 		glPolygonOffset(1,1);
fiore@3: 		glEnable(GL_POLYGON_OFFSET_FILL);
fiore@3: 		
fiore@3: 		glBegin(GL_QUADS);
fiore@3: 		glVertex3f(-5, -5, zoffset);
fiore@3: 		glVertex3f(5, -5, zoffset);
fiore@3: 		glVertex3f(5, 5, zoffset);
fiore@3: 		glVertex3f(-5, 5, zoffset);
fiore@3: 		glEnd();
fiore@3: 		glDisable(GL_POLYGON_OFFSET_FILL);
fiore@3: 		glPopAttrib();
fiore@3: 		glEndList();
fiore@3: 	}
fiore@3: 	
fiore@3: }
fiore@3: 
fiore@3: HHD HapticManager::ghHD = HD_INVALID_HANDLE;
fiore@3: HHLRC HapticManager::ghHLRC = 0;
fiore@3: const double HapticManager::EDGE_SHORTEND_VAL = 0.06;
fiore@3: const unsigned int HapticManager::CLICK_INTERVAL = CLOCKS_PER_SEC/5;
fiore@3: const double HapticManager::EDGE_SPEECH_DISTANCE_WHEN_LEAVING_NODE = 0.03;
fiore@3: #ifdef VIBRATION
fiore@3: const HDdouble HapticManager::VIBRATION_AMPLITUDE = 0.88;//0.88;
fiore@3: const HDint HapticManager::VIBRATION_FREQUENCY = 170;//160;
fiore@3: const unsigned int HapticManager::VIBRATION_DURATION = CLOCKS_PER_SEC/10; // = 100 ms
fiore@3: #endif