OpenHaptics编程指南：打造3D绘图笔应用实例

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OpenHaptics_Programmers_Guide.pdf是一份详尽的指南，专注于利用OpenHaptics SDK开发freeform3D绘图笔。OpenHaptics 是一个强大的虚拟触觉技术平台，旨在提供沉浸式用户体验，特别是在三维图形和交互设计领域。这份文档是针对OpenHaptics 3.4.0版本编写的，它涵盖了基本概念、核心类库和实例编程教程。文档首先介绍了什么是Haptics（触觉反馈），并列出了学习OpenHaptics Toolkit的资源，包括开发者支持中心，强调了通过官方渠道获取帮助和支持的重要性。接下来，章节2详细解释了OpenHaptics的核心组件，如DeviceSpaceClass（设备空间类）、QHWIN32或QHGLUTClass（用于不同平台的窗口管理）、ShapeClass（形状类）和CursorClass（光标类）。这些类是实现触觉反馈的基础，它们定义了如何在虚拟环境中创建、修改和互动对象。作者随后展示了如何编写九个示例程序，逐步深入地展示了QuickHaptics MicroAPI的使用。例如： 1. 示例1创建了一个简单的球体，让用户感受其触感。 2. 示例2演示了如何添加纹理和运动，比如模拟地球自转的效果。 3. 示例3涉及多个基本几何体的组合，构建复杂场景。 4. 示例4展示了如何处理多边形模型和事件回调，比如在“PickApples”场景中选择物体。 5. 示例5介绍了如何在程序中创建和切换多个窗口和视图，提高用户体验的灵活性。 6. 示例6展示了如何使用变形属性，如制作一个柔软的海绵牛模型。 7. 示例7讲解了自定义力反馈，如 Skull Coulomb Force，提供更精确的触感体验。 8. 示例8讨论了大型模型的触觉渲染，如Shape Depth Feedback，让大尺度对象也能传递触感信息。 9. 最后，示例9是一个实际应用案例——牙科模拟器（如Teeth Simulator），演示了OpenHaptics在医疗领域的潜在应用。这份指南不仅提供了代码示例，还比较了HLAPI（硬件抽象层接口）与HDAPI（高级描述接口）的优缺点，以及何时选择使用哪种。对于初学者和进阶开发者来说，这是一份宝贵的参考资料，有助于理解和掌握OpenHaptics技术，以便在3D绘图和交互设计项目中实现丰富的触觉反馈体验。

3D Systems, Inc.

OpenHaptics Overview

Monitor

OpenGL

context

HHLRC

HHD

QuickHaptics

HL API

HD API

User

Application

OpenGL

Depth and Feedback Buffers

30hz

graphics

loop

PDD

1khz servo

loop

3D Systems, Inc.

INTRODUCTION

Often, the easiest way to learn something new is by example. This chapter describes a number of QuickHaptics micro API programming

examples in a tutorial format and tries to explain the most common tasks a haptics programmer may encounter. Hopefully, these

software examples can serve two purposes:

• Provide an easy and fast learning path to creating haptically enabled, graphically rich applications. The examples are presented in order

of increasing complexity, starting with creating a simple sphere that can be felt with the Touch.

• Present sample code snippets that a programmer can then modify to suit his or her own application development needs.

Choosing Win32 API vs. GLUT

Depending on the computer operating system, sometimes it can be a challenge to produce a program that merely displays a graphics

window on the screen. QuickHaptics provides a simple interface that links an OpenGL graphics context to a Window. Depending on the

chosen operating system, QuickHaptics supports both Microsoft’s Win32 API and the OpenGL Utility Toolkit (GLUT). Examples for both

are included in this release. Here are some points to consider when choosing between these two Windowing systems:

• Win32 supports applications where multiple windows are required, GLUT does not. See “Example 5—Multiple Windows and Views (Multi-

pleWindows)” on page 28 where Front, Top and Right camera views are presented in multiple windows.

• GLUT code is OS platform independent, Win32 API only works within the Microsoft® Windows® OS.

• Also note that Win32 application runtime errors are displayed in message boxes. The user needs to click OK in the message box to

dismiss each error message. In contrast, all GLUT application runtime error messages are directed to the console.Location of Haptic

Interface Point (Touch).

Initial Declarations for Win32 vs. GLUT Programs

The examples in this chapter only show the QuickHaptics micro API code for the main program (between curly braces {}).This section

describes the declarations that must precede each main program.

Win32 API

Every Win32 QuickHaptics micro API program starts with an include statement for header les and then a WinMain declaration that

serves as the entry point into the Windows API.

#include <QHHeadersWin32.h>

//WinMain creates a Microsoft Windows application. Its parameters

//specify instance, previous instance, command line parameters, and

//window show state, respectively.

int WINAPI WinMain(HINSTANCE hInstance,

HINSTANCE hPrevInstance,

LPSTR lpCmdLine,

int nCmdShow)

{

Line 1 //Main program line 1

Line 2 //Main program line 2

Line 3 //Main program line 3

and so on... //Main program line n

}

As is the case for all Win32 API programs, WinMain’s parameters are:

• hInstance – Handle to the application instance. The instance is used by Windows as a reference to the application for event handling,

message processing, and other tasks.

• hPrevInstance – Always NULL.

• lpCmdLine – Pointer string used to hold any command-line arguments that may have been specied when the application began.

• nCmdShow – Parameter that determines how the application’s window is displayed once it begins executing.

The actual program follows the WinMain declaration.

3D Systems, Inc.

GLUT: OpenGL Utility Toolkit

Every GLUT QuickHaptics micro API program starts with an include statement for the GLUT specic header les and then a void

main() function that follows the standard C language convention. The basic form is:

#include <QHHeadersGLUT.h> //Include all necessary headers

void main(int argc, char *argv[])

{

Line 1 //Main program line 1

Line 2 //Main program line 2

Line 3 //Main program line 3

and so on... //Main program line n

}

Conventions Used in QuickHaptics Examples

The section title for each of the following examples describes what the program is supposed to do, followed by the name of the program

in parentheses. Each of the programming examples can be found in the directory $(OH_SDK_BASE)/QuickHaptics/Examples.

Whenever possible, both Microsoft Win32 and GLUT versions have been included for each example.

For instance, Example 1—Creating a Shape (SimpleSphere) illustrates how to create a touchable shape taking advantage

of the QuickHaptics defaults. The name of the program as it appears in Microsoft Visual Studio is SimpleSphereWin32 or

SimpleSphereGLUT, for the Win32 API and GLUT versions respectively.

Each successive example builds on the code from the previous example. In general, new code lines added in successive examples

are highlighted in bold type. The exception is “Example 7—Dening Custom Force Laws (SkullCoulombForce)” on page 34, which is

nearly all new code.

NOTE: Unless otherwise specied, all x,y,z coordinate described in this chapter are in OpenGL worldspace where the x-axis

is to the right, the y-axis is up and the z-axis points out of the screen. The origin refers to the point 0,0,0 in the OpenGL world

space.

EXAMPLE 1—CREATING A SHAPE (SIMPLESPHERE)

This example shows how to set up a scene with both graphics and haptics, and creates a Shape (Sphere) within it. The default camera

view is as described in the previous chapter and makes it so that the Sphere can be seen and felt with little trouble. Compare the eight

lines of code in this example versus the 150 lines of code for the HL API graphics example at HL\graphics\HelloSphere.cpp.

#include <QHHeadersWin32.h>

int WINAPI WinMain( HINSTANCE hInstance, HINSTANCE hPrevInstance,

LPSTR lpCmdLine, int nCmdShow )

{

QHWin32* DisplayObject = new QHWin32; //Create a display window

DeviceSpace* Omni = new DeviceSpace; //Open the default Touch

DisplayObject->tell(Omni); //Tell Display that omni exists

Sphere* SimpleSphere = new Sphere; //Create a default sphere

DisplayObject->tell(SimpleSphere); //Tell Display the sphere exists

Cursor* OmniCursor = new Cursor; //Create a default cursor

DisplayObject->tell(OmniCursor); //Tell Display that a cursor exists

qhStart(); //Set everything in motion

}

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