SensAble Technologies公司是3D可触摸(力反馈)解决方案和技术领域中的领先开发商,其解决方案和技术不仅使用户能够看到并听到屏幕计算机应用,还可以对该应用进行实际“感应”。该公司的PHANTOM系列触觉与力反馈交互设备能使用户接触并操作虚拟物体。其触觉技术广泛应用于诸多领域,包括外科手术模拟、牙科整形、虚拟装配与虚拟维修、3D 设计(艺术和雕塑),以及机器人遥操作等领域。
使用官方提供的OpenHaptics Toolkit可以方便的编写基于Phantom触觉力反馈设备的应用程序。OpenHaptics工具包包括QuickHaptics Micro API、Haptic Device API(HDAPI)、Haptic Library API (HLAPI)、PHANTOM Device Drivers(PDD)、实用工具和源代码示例。最底层的是PDD设备驱动程序,它支持公司所有系列的力反馈设备;HDAPI提供了一个底层接口,通过它能直接产生反馈力以及获取设备的状态信息;HLAPI则为熟悉OpenGL的编程人员提供了一个上层接口。
下面配置VS工程:
step 1:配置库目录
库目录中内容:
C:\Program Files\CoppeliaRobotics\CoppeliaSimEdu\programming\legacyRemoteApi\remoteApiBindings\lib\x64\Release
C:\Program Files\CoppeliaRobotics\CoppeliaSimEdu\programming\remoteApiBindings\lib\x64\Release
C:\OpenHaptics\Developer\3.5.0\utilities\src\HapticMouse\x64\ReleaseAcademicEdition
C:\OpenHaptics\Developer\3.5.0\utilities\src\HapticMouse\Win32\ReleaseAcademicEdition
C:\OpenHaptics\Developer\3.5.0\utilities\src\HDU\x64\ReleaseAcademicEdition
C:\OpenHaptics\Developer\3.5.0\utilities\src\HDU\Win32\ReleaseAcademicEdition
C:\OpenHaptics\Developer\3.5.0\utilities\src\HLU\x64\ReleaseAcademicEdition
C:\OpenHaptics\Developer\3.5.0\utilities\src\HLU\Win32\ReleaseAcademicEdition
C:\OpenHaptics\Developer\3.5.0\utilities\src\SnapConstraints\x64\ReleaseAcademicEdition
C:\OpenHaptics\Developer\3.5.0\utilities\src\SnapConstraints\Win32\ReleaseAcademicEdition
C:\OpenHaptics\Developer\3.5.0\utilities\src\SnapConstraints\Win32\Release
C:\OpenHaptics\Developer\3.5.0\utilities\src\SnapConstraints\x64\Release
C:\OpenHaptics\Developer\3.5.0\utilities\src\HLU\x64\Release
C:\OpenHaptics\Developer\3.5.0\utilities\src\HLU\Win32\Release
C:\OpenHaptics\Developer\3.5.0\utilities\src\HDU\x64\Release
C:\OpenHaptics\Developer\3.5.0\utilities\src\HDU\Win32\Release
C:\OpenHaptics\Developer\3.5.0\utilities\src\HapticMouse\Win32\Release
C:\OpenHaptics\Developer\3.5.0\utilities\src\HapticMouse\x64\Release
step 2: 配置附加包含目录
C:\Program Files\CoppeliaRobotics\CoppeliaSimEdu\programming\common
C:\Program Files\CoppeliaRobotics\CoppeliaSimEdu\programming\include
C:\Program Files\CoppeliaRobotics\CoppeliaSimEdu\programming\remoteApi
C:\OpenHaptics\Developer\3.5.0\include
C:\OpenHaptics\Developer\3.5.0\utilities\include
C:\Program Files\CoppeliaRobotics\CoppeliaSimEdu\programming\legacyRemoteApi\remoteApi
C:\OpenHaptics\Developer\3.5.0\Quickhaptics\header
step 3:配置链接器附加库目录
C:\OpenHaptics\Developer\3.5.0\utilities\src\HapticMouse\Win32\ReleaseAcademicEdition
C:\OpenHaptics\Developer\3.5.0\utilities\src\HapticMouse\x64\ReleaseAcademicEdition
C:\OpenHaptics\Developer\3.5.0\utilities\src\HDU\x64\ReleaseAcademicEdition
C:\OpenHaptics\Developer\3.5.0\utilities\src\HDU\Win32\ReleaseAcademicEdition
C:\OpenHaptics\Developer\3.5.0\utilities\src\HLU\x64\ReleaseAcademicEdition
C:\OpenHaptics\Developer\3.5.0\utilities\src\HLU\Win32\ReleaseAcademicEdition
C:\OpenHaptics\Developer\3.5.0\utilities\src\SnapConstraints\x64\ReleaseAcademicEdition
C:\OpenHaptics\Developer\3.5.0\utilities\src\SnapConstraints\Win32\ReleaseAcademicEdition
C:\OpenHaptics\Developer\3.5.0\utilities\lib\Win32\ReleaseAcademicEdition
C:\OpenHaptics\Developer\3.5.0\utilities\lib\x64\ReleaseAcademicEdition
C:\OpenHaptics\Developer\3.5.0\utilities\src\HapticMouse\x64\Release
C:\OpenHaptics\Developer\3.5.0\utilities\src\HapticMouse\Win32\Release
C:\OpenHaptics\Developer\3.5.0\utilities\src\HDU\x64\Release
C:\OpenHaptics\Developer\3.5.0\utilities\src\HDU\Win32\Release
C:\OpenHaptics\Developer\3.5.0\utilities\src\HLU\x64\Release
C:\OpenHaptics\Developer\3.5.0\utilities\src\HLU\Win32\Release
C:\OpenHaptics\Developer\3.5.0\utilities\src\SnapConstraints\x64\Release
C:\OpenHaptics\Developer\3.5.0\utilities\src\SnapConstraints\Win32\Release
C:\OpenHaptics\Developer\3.5.0\lib\x64\Release
C:\OpenHaptics\Developer\3.5.0\Quickhaptics\lib\x64\Release
C:\OpenHaptics\Developer\3.5.0\Quickhaptics\lib\x64\Debug
C:\OpenHaptics\Developer\3.5.0\Quickhaptics\lib\Win32\Release
C:\OpenHaptics\Developer\3.5.0\Quickhaptics\lib\Win32\Debug
C:\OpenHaptics\Developer\3.5.0\utilities\lib\Win32\Release
C:\OpenHaptics\Developer\3.5.0\utilities\lib\Win32\Debug
C:\OpenHaptics\Developer\3.5.0\utilities\lib\x64\Debug
C:\OpenHaptics\Developer\3.5.0\utilities\lib\x64\Release
step 4:配置链接器的附加依赖项
hd.lib
hdu.lib
hl.lib
hlu.lib
hapticmouse.lib
snapconstraints.lib
Qh.lib
QHWin32Wrapper.lib
QHGLUTWrapper.lib
glui32.lib
glut32.lib
remoteApiSharedLib-64.lib