static void Main(string[] args)
{
uint hHD = HDAPI.hdInitDevice(null);
HDAPI.hdEnable(HDEDParameters.HD_FORCE_OUTPUT);
HDAPI.hdStartScheduler();
HDErrorInfo error = HDAPI.hdGetError();
if (error.CheckedError())
{
Console.WriteLine("Start Scheduler Failed.");
Console.ReadKey();
return;
}
ulong pHandler = HDAPI.hdScheduleAsynchronous(FrictionlessSphereCallback, IntPtr.Zero, HDSchedulerPriority.HD_DEFAULT_SCHEDULER_PRIORITY);
while (true)
{
if (HDAPI.hdWaitForCompletion(pHandler, HDWaitCode.HD_WAIT_CHECK_STATUS) == 0x00)
{
Console.WriteLine("主回调器退出。");
Console.ReadKey();
return;
}
}
HDAPI.hdStopScheduler();
HDAPI.hdUnschedule(pHandler);
HDAPI.hdDisableDevice(hHD);
}
static HDCallbackCode GravityWellCallback(IntPtr pUserData)
{
const double kStiffness = 0.175; //(N/mm)
const double kGravityWellInfluence = 50; //Box Size:50x50x50(mm)
Vector3D position = new Vector3D();
Vector3D force = new Vector3D();
Vector3D positionTwell = new Vector3D();
uint hHD = HDAPI.hdGetCurrentDevice();
//触觉技术框架开始。(一般来说，所有与状态相关的触觉调用都应该在一个框架内进行。)
HDAPI.hdBeginFrame(hHD);
//获取设备的当前位置
HDAPI.hdGetDoublev(HDGetParameters.HD_CURRENT_POSITION, ref position);
//Console.WriteLine("Vector3D:{0} {1} {2}", position.X, position.Y, position.Z);
force.ResetZero();
// positionTwell = wellPos - position
//创建一个从设备位置到重力井中心的矢量
Vector3D.Subtrace(ref positionTwell, ref wellPos, ref position);
//如果装置位置在重力井中心一定距离内，则向重力井中心施加弹簧力。
//力的计算不同于传统的重力体，因为装置离中心越近，井所施加的力就越小;
//该装置的行为就像弹簧连接在它自己和井的中心。
if (InForce && Vector3D.Magnitude(ref positionTwell) < kGravityWellInfluence)
{
// F = k * x
//F:力的单位为牛顿(N)
//k: 井的刚度(N / mm)
//x: 从设备端点位置到井中心的向量。
Vector3D.Scale(ref force, ref positionTwell, kStiffness);
}
if (!InForce && Vector3D.Magnitude(ref positionTwell) >= kGravityWellInfluence)
{
Vector3D.Scale(ref force, ref positionTwell, kStiffness);
}
//把力传送到设备上
HDAPI.hdSetDoublev(HDSetParameters.HD_CURRENT_FORCE, ref force);
//End haptics frame.
HDAPI.hdEndFrame(hHD);
//check error
HDErrorInfo error = HDAPI.hdGetError();
if (error.CheckedError())
{
Console.WriteLine("渲染重力时检测到错误");
if (error.IsSchedulerError())
{
Console.WriteLine("调度器错误。");
return(HDCallbackCode.HD_CALLBACK_DONE);
}
}
return(HDCallbackCode.HD_CALLBACK_CONTINUE);
}
static void Main(string[] args)
{
uint hHD = HDAPI.hdInitDevice(null);
Console.WriteLine(HLAPI.hlGetString(HLGetStringParameters.HL_VENDOR));
HDAPI.hdMakeCurrentDevice(hHD);
IntPtr hHLRC = HLAPI.hlCreateContext(hHD);
HLAPI.hlMakeCurrent(hHLRC);
//禁用GL
HLAPI.hlDisable(HLCapabilityParameters.HL_USE_GL_MODELVIEW);
uint spring = HLAPI.hlGenEffects(1);
Console.WriteLine("spring:{0}", spring);
//添加回调处理按扭按下
HLAPI.hlAddEventCallback(HLCallbackEvents.HL_EVENT_1BUTTONDOWN, HLAPI.HL_OBJECT_ANY, HLCallbackThreads.HL_CLIENT_THREAD, ButtonCB, new IntPtr(spring));
HLAPI.hlAddEventCallback(HLCallbackEvents.HL_EVENT_1BUTTONUP, HLAPI.HL_OBJECT_ANY, HLCallbackThreads.HL_CLIENT_THREAD, ButtonCB, new IntPtr(spring));
HLAPI.hlAddEventCallback(HLCallbackEvents.HL_EVENT_2BUTTONDOWN, HLAPI.HL_OBJECT_ANY, HLCallbackThreads.HL_CLIENT_THREAD, ButtonCB, new IntPtr(0));
uint friction = HLAPI.hlGenEffects(1);
HLAPI.hlBeginFrame();
HLAPI.hlEffectd(HLEffectParams.HL_EFFECT_PROPERTY_GAIN, 0.2);
HLAPI.hlEffectd(HLEffectParams.HL_EFFECT_PROPERTY_MAGNITUDE, 0.5);
HLAPI.hlStartEffect(HLStartEffectTypes.HL_EFFECT_FRICTION, friction);
HLAPI.hlEndFrame();
HLError error;
while (true)
{
HLAPI.hlBeginFrame();
//轮询事件。请注意，客户端线程事件回调是从这里的一个框架内分派的，因此我们可以安全地直接启动/停止事件回调的效果
HLAPI.hlCheckEvents();
HLAPI.hlEndFrame();
error = HLAPI.hlGetError();
if (error.CheckedError())
{
Console.WriteLine("HL Error:{0}", error.GetErrorCodeString());
}
}
//Stop the friction effect.
HLAPI.hlBeginFrame();
HLAPI.hlStopEffect(friction);
HLAPI.hlEndFrame();
HLAPI.hlDeleteEffects(friction, 1);
HLAPI.hlDeleteEffects(spring, 1);
HLAPI.hlDeleteContext(hHLRC);
HDAPI.hdDisableDevice(hHD);
Console.ReadKey();
}
static HDCallbackCode GetSyncPos(IntPtr pUserData)
{
Vector3D v3 = HDDLLUtils.IntPtrToStruct <Vector3D>(pUserData);
HDAPI.hdBeginFrame(v3.HHD);
//将获取的坐标位置放入结构数据前三个double字节中
HDAPI.hdGetDoublev(HDGetParameters.HD_CURRENT_POSITION, pUserData);
HDAPI.hdEndFrame(v3.HHD);
return(HDCallbackCode.HD_CALLBACK_DONE);
}
static void Main(string[] args)
{
uint hHD = HDAPI.hdInitDevice("Default Device");
error = HDAPI.hdGetError();
if (error.CheckedError())
{
Console.WriteLine("Device Initialize Failed..");
Console.ReadKey();
return;
}
//HDSchedulerCallback pCallback = GravityWellCallback;
ulong gravityWell = HDAPI.hdScheduleAsynchronous(GravityWellCallback, IntPtr.Zero, HDSchedulerPriority.HD_MAX_SCHEDULER_PRIORITY);
HDAPI.hdEnable(HDEDParameters.HD_FORCE_OUTPUT);
HDAPI.hdStartScheduler();
error = HDAPI.hdGetError();
if (error.CheckedError())
{
Console.WriteLine("Start Scheduler Failed..");
Console.ReadKey();
return;
}
while (true)
{
ConsoleKeyInfo key = Console.ReadKey();
if (key.Key == ConsoleKey.DownArrow)
{
InForce = true;
Console.WriteLine("In Force:{0}", true);
}
else if (key.Key == ConsoleKey.UpArrow)
{
InForce = false;
Console.WriteLine("Out Force:{0}", false);
}
if (HDAPI.hdWaitForCompletion(gravityWell, HDWaitCode.HD_WAIT_CHECK_STATUS) == 0x00)
{
Console.WriteLine("Ready quit..");
Console.ReadKey();
break;
}
}
HDAPI.hdStopScheduler();
HDAPI.hdUnschedule(gravityWell);
HDAPI.hdDisableDevice(hHD);
}
static HDCallbackCode AnchoredSpringForceHandler(IntPtr pUserData)
{
uint hHD = (uint)pUserData;
double[] force = new double[3] {
0.0, 0.0, 0.0
};
HDAPI.hdBeginFrame(hHD);
double[] position = new double[3];
HDAPI.hdGetDoublev(HDGetParameters.HD_CURRENT_POSITION, position);
int currButtons = 0;
int lastButtons = 0;
HDAPI.hdGetIntegerv(HDGetParameters.HD_LAST_BUTTONS, ref lastButtons);
HDAPI.hdGetIntegerv(HDGetParameters.HD_CURRENT_BUTTONS, ref currButtons);
//按下 Button 1
if ((currButtons & (int)HDButtonMasks.HD_DEVICE_BUTTON_1) != 0 &&
(lastButtons & (int)HDButtonMasks.HD_DEVICE_BUTTON_1) == 0)
{
anchor = position;
renderForce = true;
Console.WriteLine("gSpringStiffness:{0}", gSpringStiffness);
//Console.WriteLine("Button Down:{0} {1} {2}", position[0], position[1], position[2]);
}
else if ((currButtons & (int)HDButtonMasks.HD_DEVICE_BUTTON_1) == 0 &&
(lastButtons & (int)HDButtonMasks.HD_DEVICE_BUTTON_1) != 0)
{
renderForce = false;
//向设备发送零力，否则它将继续呈现最后发送的力
HDAPI.hdSetDoublev(HDSetParameters.HD_CURRENT_FORCE, force);
}
if (renderForce)
{
//计算弹簧力为 F = k * (anchor - position)，这将吸引设备位置朝向锚点位置
Vector3D.Subtrace(ref force, anchor, position);
Vector3D.ScaleInPlace(ref force, gSpringStiffness);
HDAPI.hdSetDoublev(HDSetParameters.HD_CURRENT_FORCE, force);
}
HDAPI.hdEndFrame(hHD);
return(HDCallbackCode.HD_CALLBACK_CONTINUE);
}
static HDCallbackCode FrictionlessSphereCallback(IntPtr pUserData)
{
uint hHD = HDAPI.hdGetCurrentDevice();
HDAPI.hdBeginFrame(hHD);
//获取坐标位置
Vector3D position = new Vector3D();
HDAPI.hdGetDoublev(HDGetParameters.HD_CURRENT_POSITION, ref position);
//Console.WriteLine("{0} {1} {2}", position.X, position.Y, position.Z);
//计算设备和球体中心之间的距离。
Vector3D res = position - spherePosition;
double distance = Vector3D.Magnitude(ref res);
//如果用户在球体内，即用户到球体中心的距离小于球体半径，
//则用户正在穿透球体，应命令一个力将用户推向表面。
if (distance < radius)
{
//计算穿透距离。
double penetrationDistance = radius - distance;
//在力的方向上创建一个单位矢量，它总是从球体的中心通过用户的位置向外。
Vector3D forceDirection = (position - spherePosition) / distance;
//使用 F = k * x 创建一个远离中心的力向量
//球体与穿透距离成正比，并受物体刚度的制约。
double k = stiffness;
Vector3D x = penetrationDistance * forceDirection;
Vector3D f = k * x;
HDAPI.hdSetDoublev(HDSetParameters.HD_CURRENT_FORCE, ref f);
}
HDAPI.hdEndFrame(hHD);
HDErrorInfo error = HDAPI.hdGetError();
if (error.CheckedError())
{
Console.WriteLine("主调度程序回调期间出错.");
if (error.IsSchedulerError())
{
return(HDCallbackCode.HD_CALLBACK_DONE);
}
}
return(HDCallbackCode.HD_CALLBACK_CONTINUE);
}
static void Main(string[] args)
{
uint hHD = HDAPI.hdInitDevice(null);
HDErrorInfo error = HDAPI.hdGetError();
if (error.CheckedError())
{
Console.WriteLine("Initialize Device Failed.");
Console.ReadKey();
return;
}
HDAPI.hdMakeCurrentDevice(hHD);
IntPtr hHLRC = HLAPI.hlCreateContext(hHD);
HLAPI.hlMakeCurrent(hHLRC);
HLAPI.hlDisable(HLCapabilityParameters.HL_USE_GL_MODELVIEW);
uint spring = HLAPI.hlGenEffects(1);
IntPtr ptr = new IntPtr(spring);
HLAPI.hlAddEventCallback(HLCallbackEvents.HL_EVENT_1BUTTONDOWN, HLAPI.HL_OBJECT_ANY, HLCallbackThreads.HL_CLIENT_THREAD, ButtonCB, ptr);
HLAPI.hlAddEventCallback(HLCallbackEvents.HL_EVENT_1BUTTONUP, HLAPI.HL_OBJECT_ANY, HLCallbackThreads.HL_CLIENT_THREAD, ButtonCB, ptr);
while (true)
{
HLAPI.hlBeginFrame();
//轮询事件。请注意，客户端线程事件回调是从这里的一个框架内分派的，因此我们可以安全地直接启动/停止事件回调的效果。
HLAPI.hlCheckEvents();
HLAPI.hlEndFrame();
}
HLAPI.hlDeleteEffects(spring, 1);
HLAPI.hlDeleteContext(hHLRC);
HDAPI.hdDisableDevice(hHD);
}
static void Main(string[] args)
{
uint hHD = HDAPI.hdInitDevice(HDAPI.HD_DEFAULT_DEVICE);
error = HDAPI.hdGetError();
if (error.CheckedError())
{
Console.WriteLine("Device Initialize Failed..");
return;
}
//更新校准
//HDAPI.hdUpdateCalibration(HDCalibrationStyles.HD_CALIBRATION_INKWELL);
HDSchedulerCallback pCallback = AnchoredSpringForceHandler;
IntPtr deviceHHD = new IntPtr(hHD);
ulong pHandler = HDAPI.hdScheduleAsynchronous(pCallback, deviceHHD, HDSchedulerPriority.HD_MAX_SCHEDULER_PRIORITY);
//启用力输出功能
HDAPI.hdEnable(HDEDParameters.HD_FORCE_OUTPUT);
double maxStiffness = 0;
//查询设备能够处理的最大闭环控制刚度。使用超过这个限制的值可能会导致设备嗡嗡作响。
HDAPI.hdGetDoublev(HDGetParameters.HD_NOMINAL_MAX_STIFFNESS, ref maxStiffness);
HDAPI.hdStartScheduler();
error = HDAPI.hdGetError();
if (error.CheckedError())
{
Console.WriteLine("启动调度程序失败.");
Console.ReadKey();
return;
}
Console.WriteLine("按下 Button 1 开始，按上下键设置 force 值");
while (true)
{
ConsoleKeyInfo key = Console.ReadKey(true);
if (key.Key == ConsoleKey.DownArrow)
{
gSpringStiffness -= 0.05;
if (gSpringStiffness <= 0)
{
gSpringStiffness = 0.00;
}
Console.WriteLine("gSpringStiffness:{0}", gSpringStiffness);
}
else if (key.Key == ConsoleKey.UpArrow)
{
gSpringStiffness += 0.05;
if (gSpringStiffness >= maxStiffness)
{
gSpringStiffness = maxStiffness;
}
Console.WriteLine("gSpringStiffness:{0}", gSpringStiffness);
}
}
HDAPI.hdStopScheduler();
HDAPI.hdUnschedule(pHandler);
HDAPI.hdDisableDevice(hHD);
}
static void Main(string[] args)
{
hHD = HDAPI.hdInitDevice(null);
error = HDAPI.hdGetError();
if (error.CheckedError())
{
Console.WriteLine("Init Error.");
Console.ReadKey();
return;
}
//获取支持的校准样式，因为一些设备可能支持多种类型的校准
HDAPI.hdGetIntegerv(HDGetParameters.HD_CALIBRATION_STYLE, ref supportedCalibrationStyles);
Console.WriteLine("supportedCalibrationStyles:{0} {1}", supportedCalibrationStyles,
Enum.GetName(typeof(HDCalibrationStyles), supportedCalibrationStyles));
//使用墨水池校准
HDAPI.hdUpdateCalibration(HDCalibrationStyles.HD_CALIBRATION_INKWELL);
//启动 Servo Loop
HDAPI.hdStartScheduler();
#if 直接获取坐标位置输出
double[] pPosition = new double[3];
int buttons = 0;
while (true)
{
if (HDAPI.hdCheckCalibration() == HDCalibrationCodes.HD_CALIBRATION_NEEDS_UPDATE)
{
HDAPI.hdUpdateCalibration(HDCalibrationStyles.HD_CALIBRATION_INKWELL);
}
HDAPI.hdBeginFrame(hHD);
HDAPI.hdGetDoublev(HDGetParameters.HD_CURRENT_POSITION, pPosition);
HDAPI.hdGetIntegerv(HDGetParameters.HD_CURRENT_BUTTONS, ref buttons);
HDAPI.hdEndFrame(hHD);
Console.WriteLine("Button Status:Btn1:{0} Btn2:{1} Btn3:{2} Btn4:{3}",
buttons & (int)HDButtonMasks.HD_DEVICE_BUTTON_1,
buttons & (int)HDButtonMasks.HD_DEVICE_BUTTON_2,
buttons & (int)HDButtonMasks.HD_DEVICE_BUTTON_3,
buttons & (int)HDButtonMasks.HD_DEVICE_BUTTON_4);
Console.WriteLine("Position: X:{0} Y:{1} Z:{2}", pPosition[0], pPosition[1], pPosition[2]);
Thread.Sleep(100);
}
#endif
#if 使用调度器同步输出位置
PositionSynchronous = GetSyncPos;
Vector3D v3 = new Vector3D();
v3.HHD = hHD;
IntPtr pPosition = OHUtils.StructToIntPtr(v3);
while (true)
{
HDAPI.hdScheduleSynchronous(PositionSynchronous, pPosition, HDSchedulerPriority.HD_DEFAULT_SCHEDULER_PRIORITY);
v3 = OHUtils.IntPtrToStruct <Vector3D>(pPosition);
Console.WriteLine("Position: X:{0} Y:{1} Z:{2}", v3.X, v3.Y, v3.Z);
//Sleep一下，不然打印的数据太多，看不清，实际项目是不需要的
//Thread.Sleep(100);
}
#endif
//停止 Servo Loop
HDAPI.hdStopScheduler();
//禁用设备
HDAPI.hdDisableDevice(hHD);
Console.ReadKey();
return;
}
