8:00 – 4:00 ESSO
- Viz Tool meeting
- Found a date bug that we’re going to try to fix by Friday’s meeting
- Reset all the alert states to acknowledged, to keep the users from going crazy
- Need to add a way of acknowledging more than one alert. My thought is that we have a table that has the number of alerts that can show before an “acknowledge all” button is shown, and a MOTD list that can contain messages such as the state of the system. Maybe even something that has to be acknowledged.
- Need to add a way to indicate that it’s time to enter data, but not an “overdue” flag.
- Backups
- Need to do a status report. Done
- Worked out how to handle items in PA, when it is time to enter them, but they are not overdue. The states will now be as follows:
- Current. Everything is filled in
- Incomplete. Something is filled in, and the item is not overdue
- Due. It is time to fill out the item (i.e. Between the 1st and 17th of the month is the “Due” period for the previous month
- Overdue. An item that does not have all fields filled in that is past the “Due” date (i.e. the 17th)
- Finished up my security briefings and emailed a scan of the signed form to Carrie.
- Burned a disc containing PA and status for tomorrow.
4:00 – 5:00 FP
- Got the callback working.
- Pulled out setup(), run(), and terminate() methods. Next, I need to play around with the forces and make a moving object. Ideally, I’d like to have the rotating cube pair from the KF demo, but I’ll have to find some good cube code. I might start with spheres. Once I get the collisions behiving in a way that I like, I’ll start trying to add the code to (a copy of!) the KF demo
Header file:
class GravityWellClass
{
public:
GravityWellClass(void);
~GravityWellClass(void);
bool setup();
bool run();
bool terminate();
protected:
HDErrorInfo error;
HDSchedulerHandle hGravityWell;
HHD hHD;
static HDCallbackCode HDCALLBACK gravityWellCallback(void *data);
};
the callback method:
HDCallbackCode HDCALLBACK GravityWellClass::gravityWellCallback(void *data)
{
const HDdouble kStiffness = 0.075; /* N/mm */
const HDdouble kGravityWellInfluence = 40; /* mm */
/* This is the position of the gravity well in cartesian
(i.e. x,y,z) space. */
//static const hduVector3Dd wellPos = {0,0,0};
hduVector3Dd wellPos;
HDErrorInfo error;
hduVector3Dd position;
hduVector3Dd force;
hduVector3Dd positionTwell;
HHD hHD = hdGetCurrentDevice();
/* Begin haptics frame. ( In general, all state-related haptics calls
should be made within a frame. ) */
hdBeginFrame(hHD);
/* Get the current position of the device. */
hdGetDoublev(HD_CURRENT_POSITION, position);
memset(force, 0, sizeof(hduVector3Dd));
/* > positionTwell = wellPos-position <
Create a vector from the device position towards the gravity
well's center. */
wellPos[0] = 0;
wellPos[1] = 0;
wellPos[2] = 0;
hduVecSubtract(positionTwell, wellPos, position);
/* If the device position is within some distance of the gravity well's
center, apply a spring force towards gravity well's center. The force
calculation differs from a traditional gravitational body in that the
closer the device is to the center, the less force the well exerts;
the device behaves as if a spring were connected between itself and
the well's center. */
if (hduVecMagnitude(positionTwell) < kGravityWellInfluence)
{
/* > F = k * x <
F: Force in Newtons (N)
k: Stiffness of the well (N/mm)
x: Vector from the device endpoint position to the center
of the well. */
hduVecScale(force, positionTwell, kStiffness);
}
/* Send the force to the device. */
hdSetDoublev(HD_CURRENT_FORCE, force);
/* End haptics frame. */
hdEndFrame(hHD);
/* Check for errors and abort the callback if a scheduler error
is detected. */
if (HD_DEVICE_ERROR(error = hdGetError()))
{
hduPrintError(stderr, &error,
"Error detected while rendering gravity welln");
if (hduIsSchedulerError(&error))
{
return HD_CALLBACK_DONE;
}
}
/* Signify that the callback should continue running, i.e. that
it will be called again the next scheduler tick. */
return HD_CALLBACK_CONTINUE;
}
Lastly, the setup method that establishes the callback:
HDSchedulerHandle hGravityWell = hdScheduleAsynchronous(gravityWellCallback, 0, HD_MAX_SCHEDULER_PRIORITY);
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