COMP: add proper definitions check for openhaptics

Base/Devices/imstkHDAPIDeviceClient.cpp

@@ -19,6 +19,8 @@
 
    =========================================================================*/
 
+#ifdef iMSTK_USE_OPENHAPTICS
+
 #include "imstkHDAPIDeviceClient.h"
 
 #include <HDU/hduVector.h>
@@ -100,3 +102,4 @@ HDAPIDeviceClient::hapticCallback(void* pData)
     return HD_CALLBACK_CONTINUE;
 }
 }
+#endif // ifdef iMSTK_USE_OPENHAPTICS

Base/Devices/imstkHDAPIDeviceClient.h

@@ -19,6 +19,8 @@
 
    =========================================================================*/
 
+#ifdef iMSTK_USE_OPENHAPTICS
+
 #ifndef imstkHDAPIDeviceClient_h
 #define imstkHDAPIDeviceClient_h
 
@@ -71,3 +73,4 @@ private:
 }
 
 #endif // ifndef imstkHDAPIDeviceClient_h
+#endif // ifdef iMSTK_USE_OMNI

Base/Devices/imstkVRPNDeviceServer.cpp

@@ -79,8 +79,8 @@ VRPNDeviceServer::initModule()
         case DeviceType::PHANTOM_OMNI:
         {
 #ifdef VRPN_USE_PHANTOM_SERVER
-			char * deviceName = const_cast<char*>(name.c_str());
-			m_deviceConnections->add(new vrpn_Phantom(deviceName, m_serverConnection, 90.0f, deviceName));
+            char * deviceName = const_cast<char*>(name.c_str());
+            m_deviceConnections->add(new vrpn_Phantom(deviceName, m_serverConnection, 90.0f, deviceName));
 #else
             LOG(WARNING) << "VRPNDeviceServer::initModule error: no support for Phantom Omni in VRPN. "
                          << "Install OpenHaptics SDK, the omni driver, and build VRPN with VRPN_USE_PHANTOM_SERVER.";

CMakeLists.txt

@@ -143,7 +143,11 @@ find_package( VRPN REQUIRED )
 include_directories( ${VRPN_INCLUDE_DIRS} )
 add_definitions( -DVRPN_USE_LIBNIFALCON )
 if(${PROJECT_NAME}_USE_OMNI)
+  add_definitions( -DiMSTK_USE_OPENHAPTICS )
   add_definitions( -DVRPN_USE_PHANTOM_SERVER )
+else()
+  remove_definitions( -DiMSTK_USE_OPENHAPTICS )
+  remove_definitions( -DVRPN_USE_PHANTOM_SERVER )
 endif()
 
 #--------------------------------------------------------------------------

Examples/Sandbox/main.cpp

@@ -256,6 +256,7 @@ void testTwoFalcons()
 
 void testObjectController()
 {
+#ifdef iMSTK_USE_OPENHAPTICS
     // SDK and Scene
     auto sdk = std::make_shared<imstk::SimulationManager>();
     auto scene = sdk->createNewScene("SceneTestDevice");
@@ -281,6 +282,7 @@ void testObjectController()
     // Run
     sdk->setCurrentScene("SceneTestDevice");
     sdk->startSimulation(true);
+#endif
 }
 
 void testCameraController()