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sensable公司的phantom desktop主手编程手册
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更新于2023-03-16
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该文档是sensable公司的phantom desktop的编程手册,上面涵盖如何使用主手以及HDPAPI与HLAPI库函数的使用
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OPENHAPTICS™ TOOLKIT
version 2.0
PROGRAMMER’S GUIDE
Open Haptics™ Toolkit
version 2.0
Copyright Notice
©1999-2005. 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
3D Touch, ClayTools, FreeForm, FreeForm Concept, FreeForm Modeling, FreeForm Modeling Plus, FreeForm Mold,
GHOST, HapticExtender, HapticSound, OpenHaptics, PHANTOM, PHANTOM Desktop, PHANTOM Omni,
SensAble, SensAble Technologies, Inc., Splodge, Splodge design, TextureKiln and WebTouch 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)
E-mail: support@sensable.com
Internet: http://www.sensable.com
Last Updated - 27 July, 2005 6:19 pm P/N - 02523 R4
OpenHaptics Toolkit - Programmer’s Guide i
Preface
This guide explains the SensAble 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.
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:
• Surgical simulation and medical training
• Painting, sculpting, and CAD
• Military applications such as aerospace and military training and simulation
• 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.
ii OpenHaptics Toolkit - Programmer’s Guide
P
REFACE
Resources for Learning OpenHaptics
Sensable provides the following documentation and other materials for learning
OpenHaptics
:
OpenHaptics Installation Guide This guide walks you through installing the toolkit and
deploying your haptically enabled application. Detailed instructions for installing the
PHANTOM® haptic device can be found in the PHANTOM Device User’s Guide that
came with your device. This can also be found on the OpenHaptics CD.
OpenHaptics Programmer’s Guide This guide explains the OpenHaptics™ toolkit.
and introduces 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.
OpenHaptics API Reference This manual is meant to be used as a companion to the
OpenHaptics toolkit Programmer’s Guide. It contains reference pages to all the
OpenHaptics HDAPI and HLAPI functions and types as well as appendices with tables
that describe all the parameters.
Source Code Examples Several examples with source code to illustrate commonly used
functionality of the HDAPI and HLAPI are installed with the toolkit. These include both
console examples and graphics examples. A guide to these examples is located in
<OpenHaptics Install directory>/doc.
Developer Support Center The Developer Support Center is described in more detail
below.
The Developer Support Center
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 OpenHaptics 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.
OpenHaptics Toolkit - Programmer’s Guide
P
REFACE
Typographical Conventions
This guide uses the following typographical conventions:
Important Code snippets included in this document may contain soft or hard line breaks
for formatting purposes.
Convention Description Example
Italics Reference to another
document or file; first use of
a new term.
See the Programmer’s
Guide.
Courier
Identifies code.
hdBeginFrame(hHD);
Note, Warning,
Important
Calls out important
additional information.
Important Code snippets
Bold Embedded functions. Capabilities are set using
hdEnable().
<Italics> Identifies a variable such as
a file name or location.
<sensable install
directory>/OpenHaptics
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