This is a X3DGeometryNode which renders a hand using the Virtual Hand SDK. More...

#include <H3D/HumanHand.h>

Inheritance diagram for H3D::HumanHand:

Classes
class	SFBound
	Update geometric bounds of the HumanHand. More...

class	SFCyberGloveSensor
	Field class used to check if a CyberGloveSensor is used and then set up routes from fields in the CyberGloveSensor to correctly redraw when hand changes. More...

Public Member Functions
	HumanHand (Inst< SFNode > _metadata=0, Inst< SFBound > _bound=0, Inst< DisplayList > _displayList=0, Inst< SFCyberGloveSensor > _cyberGlove=0, Inst< SFString > _gloveHandedness=0, Inst< SFFloat > _scale=0)
	Constructor.

	~HumanHand ()
	Destructor.

virtual void	initialize ()
	Initializes H3DUniquePtrs to Virtual Hand SDK.

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

virtual void	traverseSG (TraverseInfo &ti)
	Traverse the scenegraph. More...

virtual int	nrTriangles ()
	The number of triangles renderered in this geometry. More...

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

virtual void	closestPoint (const Vec3f &p, NodeIntersectResult &result)
	Find closest point on the HumanHands bounding box to point p. More...

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

Public Member Functions inherited from H3D::X3DGeometryNode
	X3DGeometryNode (Inst< SFNode > _metadata=0, Inst< SFBound > _bound=0, Inst< DisplayList > _displayList=0, Inst< MFBool > _isTouched=0, Inst< MFVec3f > _force=0, Inst< MFVec3f > _contactPoint=0, Inst< MFVec3f > _contactNormal=0, Inst< MFVec3f > _contactTexCoord=0, Inst< SFBoundTree > _boundTree=0, Inst< SFVec3f > _centerOfMass=0)
	Constructor.

virtual void	glRender ()
	Function overridden from HAPIGLShape. More...

virtual H3DShadowObjectNode *	getShadowObject ()
	Get the H3DShadowObjectNode used to create a shadow volume for this geometry. More...

void	useCulling (bool enabled)
	This function should be used by the render() function to disable or enable face culling. More...

bool	usingCulling ()
	Returns if face culling is in use or not.

void	allowCulling (bool allow)
	Control if face culling is allowed or not. More...

void	useBackFaceCulling (bool enabled)
	Enabling/disabling back face culling. More...

bool	allowingCulling ()
	Returns true if back face culling is allowed, false otherwise.

void	setCullFace (GLenum face)
	Set which side of a polygon to cull. More...

GLenum	getCullFace ()
	Get which face will be culled if culling is enabled.

template<class OptionNodeType >
void	getOptionNode (OptionNodeType *&option)
	Get the first option node of the type of the pointer given as argument from the renderOptions fieeld The option argument will contain the node afterwards, or NULL if no option of that type exists.

int	getHapticShapeId (unsigned int index)
	Get a shape id to be used for rendering of this geometry with HLAPI for the given haptics device. More...

virtual	~X3DGeometryNode ()
	Destructor.

HAPI::HAPIHapticShape *	getOpenGLHapticShape (unsigned int hd_index, H3DSurfaceNode *_surface, const Matrix4f &_transform, int _nr_vertices=-1)
	Returns a either a HLFeedbackShape or a HLDepthBufferShape with the X3DGeometryNode. More...

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

virtual bool	supportsTangentAttributes ()
	Returns true if this geometry supports the automatic generation of tangents and binormals as FloatVertexAttribues(needed by e.g. More...

virtual void	getBound (HAPI::Vec3 &center, HAPI::Vec3 &size)
	Overriden from HAPIGLShape to use the bound field in he X3DGeometryNode. More...

Public Member Functions inherited from H3D::X3DChildNode
	X3DChildNode (Inst< SFNode > _metadata=0)
	Constructor.

Public Member Functions inherited from H3D::X3DNode
	X3DNode (Inst< SFNode > _metadata=0)
	Constructor.

X3DMetadataObject *	getMetadataByName (const string &_name)
	Given a name, the first X3DMetadataObject in the metadata field that matches that name is returned. 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 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 Member Functions inherited from H3D::H3DBoundedObject
	H3DBoundedObject (Inst< SFBound > _bound=0)
	Constructor.

Public Member Functions inherited from H3D::H3DDisplayListObject
	H3DDisplayListObject (Inst< DisplayList > _displayList=0)
	Constructor.

Public Attributes
H3DUniquePtr< SFCyberGloveSensor >	cyberGlove
	An instance of the cyberGlove. More...

H3DUniquePtr< SFString >	gloveHandedness
	Decides whether the CyberGlove is a left or right hand. More...

H3DUniquePtr< SFFloat >	scale
	The default hand geometrys units in the Virtual Hand SDK seems to be in centimeters. More...

Public Attributes inherited from H3D::X3DGeometryNode
H3DUniquePtr< MFBool >	isTouched
	Tells if a HapticsDevice has been in contact with the geometry in the last scenegraph loop. More...

H3DUniquePtr< MFVec3f >	force
	The last force delivered by this geometry to the haptics device. More...

H3DUniquePtr< MFVec3f >	contactPoint
	The last contact points of the HapticDevices on the geometry. More...

H3DUniquePtr< MFVec3f >	contactTexCoord
	The texture coordinate of last the contact points of the HapticDevices on the geometry. More...

H3DUniquePtr< MFVec3f >	contactNormal
	The normal at the last contact points of the HapticDevices on the geometry. More...

H3DUniquePtr< SFVec3f >	centerOfMass
	The field contains center of mass for the object, based on its bounding box. More...

H3DUniquePtr< SFBoundTree >	boundTree
	Contains a tree of the HAPI::GeometryPrimitives that build up the X3DGeometryNode. More...

H3DUniquePtr< MFOptionsNode >	options
	Contains nodes with options for haptics and graphics rendering. More...

Public Attributes inherited from H3D::X3DNode
H3DUniquePtr< SFNode >	metadata
	Meta data about the node. More...

Public Attributes inherited from H3D::H3DBoundedObject
H3DUniquePtr< SFBound >	bound
	The field containing the bound object. More...

Public Attributes inherited from H3D::H3DDisplayListObject
H3DUniquePtr< DisplayList >	displayList
	The DisplayList instance handling the OpenGL caching of this object.

Static Public Attributes
static H3DNodeDatabase	database
	The H3DNodeDatabase for this node.

Static Public Attributes inherited from H3D::X3DGeometryNode
static H3DNodeDatabase	database
	The H3DNodeDatabase for this node.

Static Public Attributes inherited from H3D::X3DNode
static H3DNodeDatabase	database
	The H3DNodeDatabase for this node.

Protected Attributes
H3DUniquePtr< SFVec3f >	sceneGraphScaling
	Internal C++ field used to modify the bound. More...

Protected Attributes inherited from H3D::X3DGeometryNode
AutoRef< Node >	shadow_volume
	The shadow volume used for this geometry when shadows enabled. More...

vector< pair< int, pair< Matrix4f, H3DTime > > >	haptic_shape_ids
	identifiers for the shapes geometry.

Additional Inherited Members
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::X3DGeometryNode
static void	cleanUpFunction (void *userdata)
	Function sent to HAPIHapticsShape created to allow for deletion of X3DGeometryNode at the correct time. 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...

Detailed Description

This is a X3DGeometryNode which renders a hand using the Virtual Hand SDK.

The use of this node is to render the hand from a CyberGlove in H3DAPI. A correctly installed CyberGlove is needed and the Device Manager have to be started and a default configuration has to be set. For some reason the geometry can not be scaled properly if the scaling of a parent transform is different from 1 (see the VHS Programmers Guide v2.5 ). Therefore the scaling of a parent transform will be completely ignored. Scaling can therefore only be set at initialization through the scale field.

Note: collision functions does nothing or returns false.

Examples:

HumanHand.x3d ( Source )

Internal routes:

Member Function Documentation

◆ closestPoint()

virtual void H3D::HumanHand::closestPoint	(	const Vec3f &	p,
		NodeIntersectResult &	result
	)

inlinevirtual

Find closest point on the HumanHands bounding box to point p.

Parameters

p	The point to find the closest point to.
result	A struct containing various results of closest points such as which geometries the closest points where detected on.

Reimplemented from H3D::X3DGeometryNode.

◆ lineIntersect()

virtual bool H3D::HumanHand::lineIntersect	(	const Vec3f &	from,
		const Vec3f &	to,
		LineIntersectResult &	result
	)

inlinevirtual

Detect intersection between a line segment and the HumanHands bounding box.

Parameters

from	The start of the line segment.
to	The end of the line segment.
result	Contains info about the closest intersection for every object that intersects the line.

Returns: true if intersected, false otherwise.

Reimplemented from H3D::X3DGeometryNode.

◆ movingSphereIntersect()

virtual bool H3D::HumanHand::movingSphereIntersect	(	H3DFloat	radius,
		const Vec3f &	from,
		const Vec3f &	to,
		NodeIntersectResult &	result
	)

inlinevirtual

Detect collision between a moving sphere and the HumanHands bounding box.

Parameters

radius	The radius of the sphere
from	The start position of the sphere
to	The end position of the sphere.
result	A struct containing various results of intersections such as which geometries intersected the moving sphere.

Returns: true if intersected, false otherwise.

Reimplemented from H3D::X3DGeometryNode.

◆ nrTriangles()

virtual int H3D::HumanHand::nrTriangles ( )

inlinevirtual

The number of triangles renderered in this geometry.

This is simply an estimate since the exact number is unknown at the moment.

◆ render()

void HumanHand::render ( )

virtual

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

Reimplemented from H3D::Node.

References H3DUtil::H3DAbs(), sceneGraphScaling, and Vec3d().

◆ traverseSG()

void HumanHand::traverseSG ( TraverseInfo & ti )

virtual

Traverse the scenegraph.

A HAPIHapticShape is added for haptic rendering if haptics is enabled.

Parameters

ti	The TraverseInfo object containing information about the traversal.

Reimplemented from H3D::X3DGeometryNode.

References cyberGlove, H3D::X3DSensorNode::isActive, and H3D::X3DGeometryNode::traverseSG().

Member Data Documentation

◆ cyberGlove

H3DUniquePtr< SFCyberGloveSensor> H3D::HumanHand::cyberGlove

An instance of the cyberGlove.

Access type: initializeOnly

Referenced by HumanHand(), initialize(), and traverseSG().

◆ gloveHandedness

H3DUniquePtr< SFString> H3D::HumanHand::gloveHandedness

Decides whether the CyberGlove is a left or right hand.

Access type: initializeOnly
Valid values: leftHand, rightHand

Referenced by HumanHand(), and initialize().

◆ scale

H3DUniquePtr< SFFloat > H3D::HumanHand::scale

The default hand geometrys units in the Virtual Hand SDK seems to be in centimeters.

This scales from meters to centimeters. If a custom made hand geometry is used change the scale if needed.

Access type: initializeOnly
Default value: 0.01

Referenced by HumanHand(), and initialize().

◆ sceneGraphScaling

H3DUniquePtr< SFVec3f > H3D::HumanHand::sceneGraphScaling

protected

Internal C++ field used to modify the bound.

Since scaling does not work when drawing the hand because of limitation in Virtual Hand SDK this field is needed, it simply stores the x,y,z OpenGL scaling.

Referenced by HumanHand(), and render().

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Public Attributes

Static Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ closestPoint()

◆ lineIntersect()

◆ movingSphereIntersect()

◆ nrTriangles()

◆ render()

◆ traverseSG()

Member Data Documentation

◆ cyberGlove

◆ gloveHandedness

◆ scale

◆ sceneGraphScaling