OpenHaptics 3D Touch SDK编程指南 v1.0：触觉交互技术详解 - CSDN文库

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2-4 OpenHaptics Toolkit - Programmer’s Guide

2 I

NSTALLATION

Installing the OpenHaptics Toolkit

6 Choose your maintenance option:

Modify: Will let you select/deselect the components (as described in

“Custom Only - Select your components.” on page 2-3 ). Some

considerations:

• If you deselect a component that is currently installed, then that

component will be uninstalled.

• If you select a component that is currently not installed, then that

component will be installed.

• If you leave a component selected that is already installed, then the

component will remain installed on your computer.

Repair: Attempts to retry the installation, as you specified during the

first run. This is useful if you mistakenly deleted some files, or the

installation procedure was corrupted in some way.

Remove: Uninstalls all of the components you have installed on your

computer.

7 Click Next and follow the on screen instructions.

OpenHaptics Toolkit - Programmer’s Guide 2-5

2 I

NSTALLATION

Directory Structure

Directory Structure

The toolkit is broadly partitioned into the following directories: Lib, Include,

Utilities, Examples, Runtime, and Docs.

Upon installation, the user can specify an installation directory and optionally

install GLUT (see “External Modules” on page 2-7.) The default value of the

installation directory is C:\Program Files\Sensable\3DTouch. The installation

program also adds a new environment variable, 3DTOUCH_BASE. Upon

successful installation of the toolkit, the environment variable points to the

install directory. All subdirectories described in this directory are relative to

the 3DTOUCH_BASE directory.

doc Contains documents such as the API Reference and the Programmer’s Guide.

examples The standard installation includes various examples including complete

programs for illustrating: how to query buttons, position, velocity, the end-

effector transform matrix as well as basic HLAPI rendering. Within the

examples directory are three sub directories.

bin Contains the pre-built executables of the source code examples.

HD Contains console and graphics directories for the Haptic Device API

examples.

HL Contains console and graphics directories for the Haptic Library API

examples.

Within the HD and HL directories you will find the following:

console Examples that only employ a DOS console.

graphics Examples that use GLUT and/or OpenGL

include Contains the header files of the 3D Touch SDK. It is the main include

directory of the 3D Touch suite. It is most conveniently referenced by adding

$(3DTOUCH_BASE)\include to the include path to your project settings.

lib Contains the library objects (.lib) files as well as the dynamically linked

libraries (.dll) files. Note that the default runtime path is not set to include

this directory, therefore the DLLs that live in this directory will not be loaded

by default. We placed the DLLs in this directory to make it easier for end

users to maintain multiple versions of the SDK.

runtime Contains the runtime installer that can be used for deployment of the

OpenHaptics runtime components. The right to deploy is subject to a separate

agreement, and it is not automatically granted to 3D Touch SDK developers.

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