ClutchedDevice is a wrapper for a H3DHapticsDevice which adds clutching functionality. More...

#include <H3D/ClutchedDevice.h>

Inheritance diagram for H3D::ClutchedDevice:

Classes
class	EnableClutch
	Enables/Disbles the clutching. More...

class	ResetClutchOrientation
	If True, resets the orientation offset due to clutching. More...

class	ResetClutchPosition
	If True, resets the position offset due to clutching. More...

Public Member Functions
	ClutchedDevice (Inst< SFVec3f > _devicePosition=0, Inst< SFRotation > _deviceOrientation=0, Inst< TrackerPosition > _trackerPosition=0, Inst< TrackerOrientation > _trackerOrientation=0, Inst< SFMatrix4f > _positionCalibration=0, Inst< SFRotation > _orientationCalibration=0, Inst< SFVec3f > _proxyPosition=0, Inst< WeightedProxy > _weightedProxyPosition=0, Inst< SFFloat > _proxyWeighting=0, Inst< SFBool > _mainButton=0, Inst< SFBool > _secondaryButton=0, Inst< SFInt32 > _buttons=0, Inst< SFVec3f > _force=0, Inst< SFVec3f > _torque=0, Inst< SFInt32 > _inputDOF=0, Inst< SFInt32 > _outputDOF=0, Inst< SFInt32 > _hapticsRate=0, Inst< SFInt32 > _desiredHapticsRate=0, Inst< SFNode > _stylus=0, Inst< SFHapticsDevice > _hapticsDevice=0, Inst< EnableClutch > _enableClutch=0, Inst< ResetClutchOrientation > _resetClutchOrientation=0, Inst< ResetClutchPosition > _resetClutchPosition=0, Inst< SFVec3f > _unclutchedPosition=0, Inst< SFRotation > _unclutchedOrientation=0)
	Constructor.

virtual void	initialize ()
	Initialize the node.

virtual ErrorCode	initDevice ()
	Does all the initialization needed for the device before starting to use it.

virtual ErrorCode	releaseDevice ()
	Perform cleanup and let go of all device resources that are allocated. More...

virtual void	renderShapes (const HapticShapeVector &shapes, unsigned int layer=0)
	Perform haptic rendering for the given HapticShape instances. More...

virtual void	updateDeviceValues ()
	This function is used to transfer device values, such as position, button status etc from the realtime loop to the fields of H3DHapticsDevice, and possible vice versa.

Public Member Functions inherited from H3D::H3DHapticsDevice
	H3DHapticsDevice (Inst< SFVec3f > _devicePosition=0, Inst< SFRotation > _deviceOrientation=0, Inst< TrackerPosition > _trackerPosition=0, Inst< TrackerOrientation > _trackerOrientation=0, Inst< SFMatrix4f > _positionCalibration=0, Inst< SFRotation > _orientationCalibration=0, Inst< SFVec3f > _proxyPosition=0, Inst< WeightedProxy > _weightedProxyPosition=0, Inst< SFFloat > _proxyWeighting=0, Inst< SFBool > _mainButton=0, Inst< SFBool > _secondaryButton=0, Inst< SFInt32 > _buttons=0, Inst< SFVec3f > _force=0, Inst< SFVec3f > _torque=0, Inst< SFInt32 > _inputDOF=0, Inst< SFInt32 > _outputDOF=0, Inst< SFInt32 > _hapticsRate=0, Inst< SFInt32 > _desiredHapticsRate=0, Inst< SFNode > _stylus=0, Inst< SFHapticsRendererNode > _hapticsRenderer=0, Inst< MFVec3f > _proxyPositions=0, Inst< SFBool > _followViewpoint=0, Inst< SFVec3f > _deviceVelocity=0, Inst< TrackerVelocity > _trackerVelocity=0, Inst< SFString > _profiledResult=0, Inst< SFVec3f > _deviceAngularVelocity=0, Inst< TrackerAngularVelocity > _trackerAngularVelocity=0)
	Constructor.

virtual	~H3DHapticsDevice ()
	Destuctor.

Vec3f	getPreviousProxyPosition (unsigned int layer=0)
	Get the proxy position from the previous loop for a certain layer. More...

const vector< Vec3f > &	getPreviousProxyPositions ()
	Get all previous proxy positions.

virtual string	defaultXMLContainerField ()
	Returns the default xml containerField attribute value. More...

HAPI::HAPIHapticsDevice *	getHAPIDevice ()
	Get the HAPIHapticsDevice that is encapsulated by this node.

virtual ErrorCode	enableDevice ()
	Enable the device. Positions can be read and force can be sent.

virtual ErrorCode	disableDevice ()
	Temporarily disable the device. More...

H3DUtil::PeriodicThreadBase *	getThread ()
	Get the thread that is used to run this haptics device.

virtual void	postInit ()
	This function is called for all devices in a DeviceInfo node for which the initDevice has been called. More...

virtual void	preRender ()
	This function is called at the start of each scenegraph loop before any calls to other HapticDevice functions and can be used to perform any necessary operation that are needed for the other calls to function properly.

virtual void	postRender ()
	This function is called at the end of each scenegraph loop after all calls to other HapticDevice functions and can be used to perform any necessary operation that are needed.

virtual void	renderStylus ()
	Render the stylus of the device wint OpenGL.

virtual void	renderEffects (const HapticEffectVector &effects)
	Perform haptic rendering for the given HAPIForceEffect instances. More...

Public Member Functions inherited from H3D::Node
	Node ()
	Constructor.

virtual Node *	clone (bool deepCopy=true, DeepCopyMap *deepCopyMap=NULL)
	Returns a new instance of this node type with the same state as this one. More...

virtual	~Node ()
	Destructor.

X3DPrototypeInstance *	getProtoInstanceParent ()
	If this node is the root node in the proto body of a X3DPrototypeInstance then this will return that node. More...

void	setProtoInstanceParent (X3DPrototypeInstance *p)
	Set the X3DPrototypeInstance this node is the the root node if applicaple.

virtual void	render ()
	the render() function is used for the depth-first rendering traversal of the scene-graph. More...

virtual void	traverseSG (TraverseInfo &ti)
	traverseSG is called once per scenegraph loop on the scene in order to traverse the scenegraph. More...

virtual bool	lineIntersect (const Vec3f &from, const Vec3f &to, LineIntersectResult &result)
	Detect intersection between a line segment and the Node. More...

virtual void	closestPoint (const Vec3f &p, NodeIntersectResult &result)
	Find closest point on Node to p. More...

virtual bool	movingSphereIntersect (H3DFloat radius, const Vec3f &from, const Vec3f &to, NodeIntersectResult &result)
	Detect collision between a moving sphere and the Node. More...

virtual Field *	getField (const string &_name) const
	return a pointer to the field specified by name within this instance

int	addDestructCallback (void(func)(Node , void ), void args)
	Add a callback function to be run on destruction of node. More...

int	removeDestructCallback (void(func)(Node , void ), void args)
	Add a callback function to be run on destruction of node. More...

Public Attributes
H3DUniquePtr< SFHapticsDevice >	hapticsDevice
	The wrapped haptics device to clutch. More...

H3DUniquePtr< EnableClutch >	enableClutch
	Enable and disable the clutch. More...

H3DUniquePtr< ResetClutchOrientation >	resetClutchOrientation
	Reset clutch orientation. More...

H3DUniquePtr< ResetClutchPosition >	resetClutchPosition
	Reset clutch position. More...

H3DUniquePtr< SFVec3f >	unclutchedPosition
	The position ignoring clutching. More...

H3DUniquePtr< SFRotation >	unclutchedOrientation
	The orientation ignoring clutching. More...

Public Attributes inherited from H3D::H3DHapticsDevice
H3DUniquePtr< SFVec3f >	devicePosition
	The position of the device given in the coordinate system of the device. More...

H3DUniquePtr< SFRotation >	deviceOrientation
	The orientation of the device given in the coordinate system of the device. More...

H3DUniquePtr< TrackerPosition >	trackerPosition
	The position of the device in the world coordinates of the API. More...

H3DUniquePtr< TrackerOrientation >	trackerOrientation
	The orientation of the device in the world coordinates of the API. More...

H3DUniquePtr< SFMatrix4f >	positionCalibration
	The calibration matrix between devicePosition and trackerPosition. More...

H3DUniquePtr< SFMatrix4f >	adjustedPositionCalibration
	The calibration matrix between devicePosition and trackerPosition adjusted with the movement of the viewpoint.

H3DUniquePtr< SFRotation >	orientationCalibration
	The calibration rotation between deviceOrientation and trackerOrientation. More...

H3DUniquePtr< SFRotation >	adjustedOrnCalibration
	The calibration rotation between deviceOrientation and trackerOrientation adjusted with the movement of the viewpoint.

H3DUniquePtr< SFVec3f >	proxyPosition
	The position of the proxy used in the haptic rendering(layer 0). More...

H3DUniquePtr< WeightedProxy >	weightedProxyPosition
	A weighted position between proxyPosition and trackerPosition. More...

H3DUniquePtr< SFFloat >	proxyWeighting
	The weighting between proxyPosition and trackerPosition when calculating weightedProxyPosition. More...

H3DUniquePtr< SFBool >	mainButton
	The state of the main button(button 0). More...

H3DUniquePtr< SFBool >	secondaryButton
	The state of the secondary button (button 1). More...

H3DUniquePtr< SFInt32 >	buttons
	The state of all buttons. More...

H3DUniquePtr< SFVec3f >	force
	The approximation of the force that has been rendered during the last scenegraph loop. More...

H3DUniquePtr< SFVec3f >	torque
	The approximation of the torque that has been rendered during the last scenegraph loop. More...

H3DUniquePtr< SFInt32 >	inputDOF
	The degrees of freedom supported as input. More...

H3DUniquePtr< SFInt32 >	outputDOF
	The degrees of freedom supported as output, i.e. More...

H3DUniquePtr< SFInt32 >	hapticsRate
	The update rate of the servoloop of the H3DHapticsDevice. More...

H3DUniquePtr< SFInt32 >	desiredHapticsRate
	The desired update rate of the servoloop of the H3DHapticsDevice. More...

H3DUniquePtr< SFTime >	hapticsLoopTime
	The time spent in the last haptics loop(in seconds) A value of -1 means that no haptics loop has been completed yet. More...

H3DUniquePtr< SFNode >	stylus
	The Node used as the visual representation of the stylus. More...

H3DUniquePtr< SFBool >	initialized
	true if the device is initialized and ready for calls to updateDeviceValues() and renderObjects(). More...

H3DUniquePtr< SFHapticsRendererNode >	hapticsRenderer
	Specifies the haptics rendering algorithm to use to generate forces from geometric shapes. More...

H3DUniquePtr< MFVec3f >	proxyPositions
	The positions of the proxies for each layer used in haptic rendering(layer 0). More...

H3DUniquePtr< SetEnabled >	set_enabled
	Enable/disable the device. More...

H3DUniquePtr< SFBool >	enabled
	true if the device is enabled, e.g. More...

H3DUniquePtr< SFBool >	followViewpoint
	true if the device should follow the viewpoint. More...

H3DUniquePtr< SFVec3f >	deviceVelocity
	The velocity of the device in the coordinate system of the device. More...

H3DUniquePtr< TrackerVelocity >	trackerVelocity
	The velocity of the device in the world coordinates of the API. More...

H3DUniquePtr< SFFloat >	forceLimit
	The maximum force(in N) we want the device to render. More...

H3DUniquePtr< SFFloat >	forceScale
	Set the scaling of the output force. More...

H3DUniquePtr< SFBool >	deadmansSwitch
	This is an alternative operational safety mode. More...

H3DUniquePtr< SFFloat >	torqueLimit
	The maximum torque(in Nm) we want the device to render. More...

H3DUniquePtr< SFVec3f >	deviceAngularVelocity
	The angular velocity of the device in the coordinate system of the device. More...

H3DUniquePtr< TrackerAngularVelocity >	trackerAngularVelocity
	The angular velocity of the device in the world coordinates of the API. More...

Static Public Attributes
static H3DNodeDatabase	database
	Node database entry.

Static Public Attributes inherited from H3D::H3DHapticsDevice
static H3DNodeDatabase	database
	Node database entry.

Additional Inherited Members
Public Types inherited from H3D::H3DHapticsDevice
typedef SFMatrix4f	PosCalibration

typedef SFRotation	OrnCalibration

Public Types inherited from H3D::Node
typedef std::map< Node , Node >	DeepCopyMap
	A map type used during a deep copy clone() to map from original nodes to cloned nodes.

Static Public Member Functions inherited from H3D::Node
static unsigned int	nrNodesAlive ()
	Returns the nr of nodes currently alive, i.e. nodes created but not destructed.

static int	nrNodesCreated ()
	Returns the number of nodes created in total since the start of the program.

Protected Member Functions inherited from H3D::Node
void	cloneFieldValue (Field &_from, Field &_to, bool deepCopy, DeepCopyMap &deepCopyMap)
	A helper function for the clone() method. More...

Static Protected Member Functions inherited from H3D::Node
static Node *	getClonedInstance (Node *original, bool deepCopy, DeepCopyMap &deepCopyMap)
	A helper function for nodes that implement clone() More...

Protected Attributes inherited from H3D::H3DHapticsDevice
TimeStamp	last_effect_change
	The time for the last call to the renderEffects function.

Detailed Description

ClutchedDevice is a wrapper for a H3DHapticsDevice which adds clutching functionality.

The clutching can be useful when the workspace and calibration of the haptic device does not allow comfortable control.

Examples:

ClutchedDevice.x3d ( Source )

Member Function Documentation

◆ releaseDevice()

ClutchedDevice::ErrorCode ClutchedDevice::releaseDevice ( )

virtual

Perform cleanup and let go of all device resources that are allocated.

After a call to this function no haptic rendering can be performed on the device until the initDevice() function has been called again.

Reimplemented from H3D::H3DHapticsDevice.

References hapticsDevice, and H3D::H3DHapticsDevice::releaseDevice().

◆ renderShapes()

void ClutchedDevice::renderShapes	(	const HapticShapeVector &	shapes,
		unsigned int	layer = `0`
	)

virtual

Perform haptic rendering for the given HapticShape instances.

HapticShape objects that are to be be rendered haptically must be rendered with this function each scenegraph loop. Used in PhantomDevice to determine when to start the scheduler for OpenHaptics in order to avoid random crashes when creating hlContext.

Parameters