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Phantom omni 力反馈仪API
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更新于2023-05-27
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Phantom omni 力反馈仪 API文档,OpenHaptics_API_Reference_Guide
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3D Systems, Inc.
1
TABLE OF CONTENTS
COPYRIGHT 5
WARRANTY 5
LIMITATION OF LIABILITY 5
1 INTRODUCTION 6
RESOURCES FOR LEARNING THE OPENHAPTICS TOOLKIT 6
THE DEVELOPER SUPPORT CENTER 6
OVERVIEW 6
2 DEVICE ROUTINES 7
HDBEGINFRAME 7
HDDISABLE 7
HDDISABLEDEVICE 7
HDENABLE 8
HDENDFRAME 8
HDGET (PARAMETER VALUES) 8
HDGETCURRENTDEVICE 9
HDGETERROR 9
HDGETERRORSTRING 9
HDGETSTRING 10
HDINITDEVICE 10
HDISENABLED 10
HDMAKECURRENTDEVICE 11
HDSET (PARAMETER VALUES) 11
HD_DEVICE_ERROR 12
3 CALIBRATION ROUTINES 14
HDCHECKCALIBRATION 14
HDUPDATECALIBRATION 15
4 SCHEDULER ROUTINES 16
HDGETSCHEDULERTIMESTAMP 16
HDSCHEDULEASYNCHRONOUS 16
HDSCHEDULESYNCHRONOUS 17
HDSETSCHEDULERRATE 18
HDSTARTSCHEDULER 18
HDSTOPSCHEDULER 18
HDUNSCHEDULE 19
HDWAITFORCOMPLETION 19
5 HDAPI DEPLOYMENT 20
HDDEPLOYMENTLICENSE 20
6 HDAPI TYPES 21
HDSCHEDULERCALLBACK TYPE 21
HDSCHEDULERHANDLE TYPE 21
7
1
2
3
4
5
6

3D Systems, Inc.
2
C ONTEXT/FRAME MANAGEMENT 22
HLBEGINFRAME 22
HLCONTEXTDEVICE 22
HLCREATECONTEXT 23
HLDELETECONTEXT 23
HLENDFRAME 24
HLGETCURRENTCONTEXT 24
HLGETCURRENTDEVICE 24
HLMAKECURRENT 25
8 STATE MAINTENANCE AND ACCESSORS 26
HLENABLE, HLDISABLE 26
HLGETBOOLEANV, HLGETDOUBLEV, HLGETINTEGERV 26
HLGETERROR 27
HLGETSTRING 27
HLHINTI, HLHINTB 28
HLISENABLED 28
HLMAKECURRENT 29
9 CACHED STATE ACCESSORS 30
HLCACHEGETBOOLEANV, HLCACHEGETDOUBLEV 30
1 SHAPES 31
HLBEGINSHAPE 31
HLDELETESHAPE 31
HLENDSHAPE 32
HLGENSHAPES 32
HLLOCALFEATURE 33
HLISSHAPE 34
HLGETSHAPEBOOLEANV, HLGETSHAPEDOUBLEV 34
1 MATERIAL AND SURFACE PROPERTIES 36
HLGETMATERIALFV 36
HLMATERIALF 36
HLTOUCHABLEFACE 37
HLTOUCHMODEL 37
HLTOUCHMODELF 38
1 FORCE EFFECTS 39
HLDELETEEFFECTS 39
HLEFFECTD, HLEFFECTI, HLEFFECTDV, HLEFFECTIV 39
HLGENEFFECTS 40
HLGETEFFECTDV, HLGETEFFECTIV, HLGETEFFECTBV 40
HLISEFFECT 41
HLSTARTEFFECT 41
HLSTOPEFFECT 41
HLTRIGGEREFFECT 42
HLUPDATEEFFECT 42
1
7
8
9
10
11
12

3D Systems, Inc.
3
PROXY 43
HLDELETEEFFECTS 43
1 TRANSFORMS 44
HLLOADIDENTITY 44
HLLOADMATRIXD, HLLOADMATRIXF 44
HLMULTMATRIXD, HLMULTMATRIXF 45
HLMATRIXMODE 45
HLORTHO 46
HLPUSHATTRIB, HLPOPATTRIB 47
HLPUSHMATRIX, HLPOPMATRIX 47
HLROTATEF, HLROTATED 48
HLSCALEF, HLSCALED 48
HLTRANSLATEF, HLTRANSLATED 49
HLWORKSPACE 49
1 CALLBACKS 51
HLCALLBACK 51
1 EVENTS 52
HLADDEVENTCALLBACK 52
HLCHECKEVENTS 52
HLEVENTD 54
HLREMOVEEVENTCALLBACK 54
HLISEFFECT 55
HLSTARTEFFECT 55
HLSTOPEFFECT 55
1 CALIBRATION 56
HLUPDATECALIBRATION 56
1 HLAPI DEPLOYMENT 57
HLDEPLOYMENTLICENSE 57
1 HAPTIC DEVICE API PARAMETERS 58
GET PARAMETERS 58
SET PARAMETERS 61
CAPABILITY PARAMETERS 63
CODES 63
2 HAPTIC LIBRARY API PARAMETERS 65
STATE MAINTENANCE PARAMETERS 65
SHAPE PARAMETERS 68
TABLE B-7: HLGETSHAPEBOOLEANV, HLGETSHAPEDOUBLEV 68
CAPABILITY PARAMETERS 69
MATERIAL AND SURFACE PARAMETERS 70
FORCE EFFECT PARAMETERS 71
CALLBACK PARAMETERS 73
EVENT PARAMETERS 73
PROXY PARAMETERS 74
TRANSFORM PARAMETERS 74
13
14
15
16
17
18
19

3D Systems, Inc.
4
COPYRIGHT
©2015. 3D Systems, Inc. All rights reserved. The content of this manual is furnished for informational use only, is subject to change
without notice, and should not be construed as a commitment by 3D Systems, Inc. This document is copyrighted and contains
proprietary information that is the property of 3D Systems, Inc. Touch, Geomagic Touch, Geomagic Touch X, Geomagic OpenHaptics,
Geomagic, Phantom, Phantom Desktop, Phantom Omni, Sensable, 3D Systems, and the 3D Systems logo are registered trademarks,
and Touch is a trademark, of 3D Systems, Inc. Use of the Cubify.com website constitutes acceptance of its Terms of Service and
Privacy Policy. Any names, places, and/or events in this publication are not intended to correspond or relate in any way to individuals,
groups or associations. Any similarity or likeness of the names, places, and/or events in this publication to those of any individual, living
or dead, place, event, or that of any group or association is purely coincidental and unintentional.
WARRANTY
No warranties of any kind are created or extended by this publication. 3D Systems warrants that the Touch haptic device will be free
from defects in materials and workmanship, during the applicable warranty period, when used under the normal conditions described
in the documentation provided to you, including the respective User Guide. 3D Systems will promptly repair or replace the Touch, if
required, to make it free of defects during the warranty period. This warranty excludes repairs required during the warranty period
because of abnormal use or conditions (such as riots, oods, misuse, neglect or improper service by anyone except 3D Systems or its
authorized service provider). For consumers who are covered by consumer protection laws or regulations in their country of purchase
or, if different, their country of residence, the benets conferred by our standard warranty are in addition to, and operate concurrently
with, all rights and remedies conveyed by such consumer protection laws -and regulations, including but not limited to these additional
rights.
LIMITATION OF LIABILITY
3D SYSTEMS WILL NOT BE RESPONSIBLE FOR CONSEQUENTIAL, EXEMPLARY OR INCIDENTAL DAMAGES (SUCH AS
LOSS OF PROFIT OR EMPLOYEE’S TIME) REGARDLESS OF THE REASON. IN NO EVENT SHALL THE LIABILITY AND/OR
OBLIGATIONS OF 3D SYSTEMS ARISING OUT OF THE PURCHASE, LEASE, LICENSE AND/OR USE OF THE EQUIPMENT BY
YOU OR OTHERS EXCEED THE PURCHASE PRICE OF THE TOUCH 3D DEVICE.
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