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1 /*
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2 XYPad - a haptic xy-pad that uses the jHapticGUI library
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3
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4 Copyright (C) 2015 Queen Mary University of London (http://depic.eecs.qmul.ac.uk/)
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5
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6 This program is free software: you can redistribute it and/or modify
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7 it under the terms of the GNU General Public License as published by
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8 the Free Software Foundation, either version 3 of the License, or
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9 (at your option) any later version.
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10
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11 This program is distributed in the hope that it will be useful,
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12 but WITHOUT ANY WARRANTY; without even the implied warranty of
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13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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14 GNU General Public License for more details.
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15
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16 You should have received a copy of the GNU General Public License
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17 along with this program. If not, see <http://www.gnu.org/licenses/>.
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18 */
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19 #pragma once
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20
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21
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22 #include "Message.h"
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23
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24
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25 namespace jhapticgui {
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26
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27 class HapticScene {
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28
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29 int mWidth;
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30 int mHeight;
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31
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32 protected:
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33 void (*send) (const Message &m);
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34
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35 public:
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36
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37 /**
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38 * Returns the width of the openGL window where the scene is displayed
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39 */
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40 inline int getWidth() {
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41 return mWidth;
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42 }
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43
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44 /**
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45 * Returns the height of the openGL window where the scene is displayed
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46 */
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47 inline int getHeight() {
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48 return mHeight;
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49 }
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50
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51 /**
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52 * The constructor takes as argument a pointer to a function that must
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53 * be invoked to send a message to the Java thread from the this haptic
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54 * scene.
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55 */
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56 HapticScene(void (*messageCallback) (const Message & m) ) : send(messageCallback) {}
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57
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58 virtual ~HapticScene(void){}
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59
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60 /**
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61 * Sets the size of the openGL window where the scene is displayed
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62 */
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63 inline virtual void setSize(int w, int h){
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64 mWidth = w;
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65 mHeight = h;
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66 }
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67
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68 /** Try and initializes the haptic device, return false if the initialization fails */
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69 virtual bool initHaptics(void) = 0;
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70
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71 /** Initializes the openGL windows after the haptics has been successfully initialized */
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72 virtual void initGL(void) = 0;
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73
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74 /** handles an incoming message from the Java thread.
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75 *
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76 * Returns an update code if the message changes the
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77 * scene. The code is passed to drawScene() for updating
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78 * the scene accordingly.
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79 */
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80 virtual unsigned int processMessage(const Message & m) = 0;
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81
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82 /** called at the beginning of each frame */
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83 virtual void beginFrame(void) = 0;
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84
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85 /** called at the end of each frame */
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86 virtual void endFrame(void) = 0;
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87
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88 /** draws the haptic cursor, namely the haptic device proxy */
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89 virtual void drawCursor(void) = 0;
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90
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91 /**
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92 * Draws one frame both graphic and haptic.
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93 *
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94 * messageUpdate and callbacksUpdate are integer codes specifying what
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95 * needs to be updated in the haptic and graphic scenes. messageUpdate
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96 * is the value returned by processMessage and flags that a message from the
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97 * Java thread affects the scene which must therefore be updated.
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98 *
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99 * callbacksUpdate is the value returned by checkCallbacks
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100 * and flags that a haptic event happened that affects the scene,
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101 * which must therefore be updated.
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102 */
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103 virtual void drawScene(unsigned int messageUpdate, unsigned int callbacksUpdate) = 0;
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104
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105 /** Checks for haptic callbacks, namely functions that are called when
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106 * a haptic events occurs. Typical haptic events are proxy touching an
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107 * object, proxy moving, button pressed etc.
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108 *
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109 * Returns an update code if any event changes the
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110 * scene. The code is passed in the next frame to drawScene(),
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111 * for updating the scene accordingly.
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112 *
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113 */
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114 virtual unsigned int checkCallbacks(void) = 0;
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115
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116 };
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117
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118 }
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