OpenHaptics_ProgGuide1.0.pdf

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Contents

Preface

Introduction

HDAPI vs. HLAPI

Installation

System Requirements

Installing the OpenHaptics Toolkit

Directory Structure

Creating Haptic Environments

Introduction to Forces

Force Rendering

Contact and Constraints

Combining Haptics with Graphics

Combining Haptics with Dynamics

Haptic UI Conventions

HDAPI Overview

Getting Started

The Device

The Scheduler

Developing HDAPI Applications

Design of Typical HDAPI Program

HDAPI Programming

Haptic Device Operations

Haptic Frames

Scheduler Operations

State

Calibration Interface

Error Reporting and Handling

Cleanup

HLAPI Overview

Generating Forces

Leveraging OpenGL

Proxy Rendering

Threading

Design of Typical HLAPI Program

HLAPI Programming

Device Setup

Rendering Contexts

Haptic Frames

Rendering Shapes

Mapping Haptic Device to Graphics Scene

Drawing a 3D Cursor

Material Properties

Surface Constraints

Effects

Events

Calibration

Dynamic Objects

Direct Proxy Rendering

Multiple Devices

Extending HLAPI

Utilities

Vector/Matrix Math

Workspace to Camera Mapping

Snap Constraints

C++ Haptic Device Wrapper

hduError

hduRecord

Haptic Mouse

Deploying OpenHaptics Applications

Troubleshooting

Device Initialization

Frames

Thread Safety

Race Conditions

Calibration

Buzzing

Force Kicking

No Forces

Device Stuttering

Error Handling

Index

Numerics

3D Cursor, drawing 7-20

adaptive viewport 7-11

advanced mapping 7-19

basic mapping 7-18

begin/end shape 7-5

buffer

button 7-30

buzzing

C++ haptic device wrapper 8-8

calibration 7-30, 7-31

callbacks

cleanup 5-13

client thread events 7-30

closest feature callback 7-39

collision thread events 7-31

combining

contact

contexts

culling with spatial partitions 7-13

cursor

custom effects 7-40

custom shapes 7-37

damping 7-23

depth buffer 7-6

developing 3D touch applications 4-3

device

device initialization

device setup

devices

direct proxy rendering 7-36

directory structure 2-5

drawing 3D cursor 7-20

drawing a 3D Cursor 7-20

dynamic objects 7-33

dynamics

effects 7-26

error handling

error reporting and handling 5-12

event callbacks 7-28

event handling 3-7

event types 7-29

events 7-28, 7-30

extending HLAPI 7-37

external modules 2-7

feedback buffer 7-9

force kicking

forces 3-2

frames

friction 7-23

generating forces 6-2

get state 5-7

graphics

graphics scene

haptic camera view 7-12

haptic cues 3-11

haptic device

haptic frames 5-3

haptic workspace 7-16

haptics

HDAPI vs HLAPI 1-1

hduError 8-10

hduRecord 8-10

HLAPI programs design of 4-6, 6-5

intersect callback 7-38

leveraging OpenGL 6-2

manipulation

mapping 7-18

material properties 7-22

math 8-2

matrix

matrix math 8-2

matrix stacks 7-17

matrix utilities 8-3

motion 7-29

motion friction 3-11

multiple devices 7-37

OpenGL, leveraging 6-2

optimizing shape rendering 7-11

PDD. See PHANTOM Device Driver

PHANTOM Device Driver 2-2

proxy 3-5

race conditions

registry entries 2-7

relative transformations 3-10

rendering

scheduler operations 5-4

SCP. See surface contact point

servo loop 1-3

servo thread 1-3

shape

shape rendering, optimizing 7-11

shapes

snap

spatial partitions, culling with 7-13

specific shapes 7-30

stabilizing

stacks 7-17

state 5-7

stiffness

surface

surface constraints 7-24

surface contact point 3-5

synchronization of state 5-9

system requirements 2-1

thread safety

threading 6-4, 7-30

touch 7-29

touch-workspace matrix 7-18

transformations 3-10

troubleshooting 10-1

types

types of events 7-29

utilities 8-1

vector math 8-2

vector utilities 8-2

View-touch Matrix 7-18

visual cues 3-11

workspace 7-16

3D TOUCH™ SDK OPENHAPTICS™ TOOLKIT VERSION 1.0 PROGRAMMER’S GUIDE

Copyright Notice ©2004. SensAble Technologies, Inc. All rights reserved. Printed in the USA. Except as permitted by license, no part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means electronic, mechanical, recording or otherwise, without prior written consent of SensAble Technologies. Trademarks FreeForm, FreeForm Concept, FreeForm Modeling, FreeForm Modeling Plus, FreeForm Mold, GHOST, HapticSound, OpenHaptics, PHANTOM, PHANTOM Desktop, PHANTOM Omni, 3D Touch, Splodge, SensAble, and SensAble Technologies, Inc. are trademarks or registered trademarks of SensAble Technologies, Inc. Other brand and product names are trademarks of their respective holders. Warranties and Disclaimers SensAble Technologies does not warrant that this publication is error free. This publication could include technical or typographical errors or other inaccuracies. SensAble may make changes to the product described in this publication or to this publication at any time, without notice. Questions or Comments If you have any questions for our technical support staff, please contact us at support@sensable.com. You can also phone 1-888-SENSABL (U.S.A. only) or 1-781-937-8315 (International). If you have any questions or comments about the documentation, please contact us at documentation@sensable.com. Corporate Headquarters SensAble Technologies, Inc. 15 Constitution Way Woburn, MA 01801 Phone: 1-888-SENSABL (U.S.A. only) or 1-781-937-8315 (International) E-mail: support@sensable.com Internet: http://www.sensable.com Last Updated - 5 August, 2004 6:33 pm P/N - 02523 R3

Contents i Preface......................................................................... Introduction ................................................................ 1-1 HDAPI vs. HLAPI .............................................................................. 1-1 Installation .................................................................. 2-1 System Requirements .......................................................................... 2-1 Installing the OpenHaptics Toolkit ..................................................... 2-2 Directory Structure .............................................................................. 2-5 Creating Haptic Environments ................................. 3-1 Introduction to Forces ......................................................................... 3-2 Force Rendering .................................................................................. 3-2 Contact and Constraints ...................................................................... 3-5 Combining Haptics with Graphics ...................................................... 3-6 Combining Haptics with Dynamics .................................................... 3-8 Haptic UI Conventions ........................................................................ 3-9 HDAPI Overview ........................................................ 4-1 Getting Started ..................................................................................... 4-2 The Device .......................................................................................... 4-2 The Scheduler ...................................................................................... 4-3 Developing HDAPI Applications ........................................................ 4-3 Design of Typical HDAPI Program .................................................... 4-6 HDAPI Programming ................................................. 5-1 Haptic Device Operations ................................................................... 5-2 Haptic Frames ..................................................................................... 5-3 Scheduler Operations .......................................................................... 5-4 State ..................................................................................................... 5-7 Calibration Interface .......................................................................... 5-10 Error Reporting and Handling ........................................................... 5-12 Cleanup .............................................................................................. 5-13 HLAPI Overview ......................................................... 6-1 Generating Forces ............................................................................... 6-2 OpenHaptics Toolkit - Programmer’s Guide Chapter 1 Chapter 2 Chapter 3 Chapter 4 Chapter 5 Chapter 6

Chapter 7 Chapter 8 Chapter 9 Chapter 10 Leveraging OpenGL ............................................................................6-2 Proxy Rendering ..................................................................................6-3 Threading .............................................................................................6-4 Design of Typical HLAPI Program .....................................................6-5 HLAPI Programming ................................................. 7-1 Device Setup ........................................................................................7-2 Rendering Contexts ..............................................................................7-2 Haptic Frames ......................................................................................7-3 Rendering Shapes .................................................................................7-5 Mapping Haptic Device to Graphics Scene .......................................7-16 Drawing a 3D Cursor .........................................................................7-20 Material Properties .............................................................................7-22 Surface Constraints ............................................................................7-24 Effects ................................................................................................7-26 Events .................................................................................................7-28 Calibration ..........................................................................................7-31 Dynamic Objects ................................................................................7-33 Direct Proxy Rendering .....................................................................7-36 Multiple Devices ................................................................................7-37 Extending HLAPI ..............................................................................7-37 Utilities ....................................................................... 8-1 Vector/Matrix Math .............................................................................8-2 Workspace to Camera Mapping ...........................................................8-4 Snap Constraints ..................................................................................8-7 C++ Haptic Device Wrapper ...............................................................8-8 hduError .............................................................................................8-10 hduRecord ..........................................................................................8-10 Haptic Mouse .....................................................................................8-11 Deploying OpenHaptics Applications ..................... 9-1 Troubleshooting ...................................................... 10-1 Device Initialization ...........................................................................10-2 Frames ................................................................................................10-2 Thread Safety .....................................................................................10-3 Race Conditions .................................................................................10-6 Calibration ..........................................................................................10-6 Buzzing ..............................................................................................10-7 Force Kicking ...................................................................................10-12 No Forces .........................................................................................10-15 Device Stuttering ..............................................................................10-15 OpenHaptics Toolkit - Programmer’s Guide

Error Handling ................................................................................. 10-16 Index ........................................................................ A-1 OpenHaptics Toolkit - Programmer’s Guide

OpenHaptics Toolkit - Programmer’s Guide

Preface This guide explains the SensAble 3D Touch™ SDK OpenHaptics™ toolkit. This document will introduce you to the architecture of the toolkit, how it works, and what you can do with it. The guide will also introduce you to the fundamental components of creating haptic environments and walk you through installing the toolkit and deploying your haptically enabled application. A more recent version of this document may be available for download from the SensAble online Developer Support Center (DSC). To access the DSC, visit the SensAble Support page at http://www.sensable.com/support/. The DSC provides customers with 24 x 7 access to the most current information and forums for the 3D Touch and GHOST® SDKs. Please note that you will be asked to create a registration profile and have your customer information authenticated before you will have access to the DSC. What is Haptics? Haptics is the science of incorporating the sense of touch and control into computer applications through force (kinesthetic) or tactile feedback. By using special input/output devices—called haptic devices—with a haptically enabled application, users can feel and manipulate virtual three-dimensional objects. The type of feedback used to convey the sense of touch is determined by the type of haptic device being used. Application areas for haptics are varied and continually expanding. These include: • • • Military applications such as aerospace and military training and Surgical simulation and medical training Painting, sculpting, and CAD simulation OpenHaptics Toolkit - Programmer’s Guide i

PREFACE • Assistive technology for the blind or visually impaired • Simple interaction techniques with the standard user interface such as opening/closing windows, and interacting with menus • Gaming Audience This guide assumes that the reader has an intermediate to advanced background in software development, is familiar with the C programming language, and is somewhat familiar with 3D graphics programming. Although the core API is C based, some of the utility libraries and the source code examples use C++. For additional information about haptics, see the SensAble Developer Support Center. Typographical Conventions This guide uses the following typographical conventions: Convention Italics Courier Note, Warning, Important Description Reference to another document or file; first use of a new term. Identifies code. Calls out important additional information. Identifies a variable such as a file name or location. Example See the Programmer’s Guide. hdBeginFrame(hHD); /OpenHaptics Important Code snippets included in this document may contain soft or hard line breaks for formatting purposes. ii OpenHaptics Toolkit - Programmer’s Guide

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