diff --git a/Base/Devices/imstkHDAPIDeviceClient.cpp b/Base/Devices/imstkHDAPIDeviceClient.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..a10bddd70b4e532c2de6b215fc0989ca77707bc5
--- /dev/null
+++ b/Base/Devices/imstkHDAPIDeviceClient.cpp
@@ -0,0 +1,102 @@
+/*=========================================================================
+
+ Library: iMSTK
+
+ Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
+ & Imaging in Medicine, Rensselaer Polytechnic Institute.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0.txt
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+
+ =========================================================================*/
+
+#include "imstkHDAPIDeviceClient.h"
+
+#include <HDU/hduVector.h>
+#include <HDU/hduError.h>
+
+#include "g3log/g3log.hpp"
+
+namespace imstk {
+
+void
+HDAPIDeviceClient::initModule()
+{
+ // Open Device
+ m_handle = hdInitDevice(this->getName().c_str());
+
+ // If failed
+ HDErrorInfo error;
+ if (HD_DEVICE_ERROR(error = hdGetError()))
+ {
+ LOG(FATAL) << "Failed to initialize Phantom Omni " << this->getName();
+ m_handle = -1;
+ return;
+ }
+
+ // Calibration
+ if (hdCheckCalibration() != HD_CALIBRATION_OK)
+ {
+ LOG(INFO) << "Move " << this->getName() << " in its dock to calibrate it.";
+ while (hdCheckCalibration() != HD_CALIBRATION_OK)
+ {
+ }
+ }
+
+ // Success
+ LOG(INFO) << this->getName() << " successfully initialized.";
+ hdEnable(HD_FORCE_OUTPUT);
+ hdEnable(HD_FORCE_RAMPING);
+ hdStartScheduler();
+}
+
+void
+HDAPIDeviceClient::runModule()
+{
+ hdScheduleSynchronous(hapticCallback, this, HD_MAX_SCHEDULER_PRIORITY);
+}
+
+void
+HDAPIDeviceClient::cleanUpModule()
+{
+ hdStopScheduler();
+ hdDisableDevice(m_handle);
+}
+
+HDCallbackCode HDCALLBACK
+HDAPIDeviceClient::hapticCallback(void* pData)
+{
+ auto client = reinterpret_cast<HDAPIDeviceClient*>(pData);
+ auto handle = client->m_handle;
+ auto state = client->m_state;
+
+ hdBeginFrame(handle);
+
+ hdSetDoublev(HD_CURRENT_FORCE, client->m_force.data());
+ hdGetDoublev(HD_CURRENT_POSITION, state.pos);
+ hdGetDoublev(HD_CURRENT_VELOCITY, state.vel);
+ hdGetDoublev(HD_CURRENT_TRANSFORM, state.trans);
+ hdGetIntegerv(HD_CURRENT_BUTTONS, &state.buttons);
+
+ hdEndFrame(handle);
+
+ client->m_position << state.pos[0], state.pos[1], state.pos[2];
+ client->m_velocity << state.vel[0], state.vel[1], state.vel[2];
+ client->m_orientation = (Eigen::Affine3d(Eigen::Matrix4d(state.trans))).rotation();
+ client->m_buttons[0] = state.buttons & HD_DEVICE_BUTTON_1;
+ client->m_buttons[1] = state.buttons & HD_DEVICE_BUTTON_2;
+ client->m_buttons[2] = state.buttons & HD_DEVICE_BUTTON_3;
+ client->m_buttons[3] = state.buttons & HD_DEVICE_BUTTON_4;
+
+ return HD_CALLBACK_CONTINUE;
+}
+}
diff --git a/Base/Devices/imstkHDAPIDeviceClient.h b/Base/Devices/imstkHDAPIDeviceClient.h
new file mode 100644
index 0000000000000000000000000000000000000000..d6b4c0ba239623ed13db8340e113b17c1eda332b
--- /dev/null
+++ b/Base/Devices/imstkHDAPIDeviceClient.h
@@ -0,0 +1,73 @@
+/*=========================================================================
+
+ Library: iMSTK
+
+ Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
+ & Imaging in Medicine, Rensselaer Polytechnic Institute.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0.txt
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+
+ =========================================================================*/
+
+#ifndef imstkHDAPIDeviceClient_h
+#define imstkHDAPIDeviceClient_h
+
+#include <map>
+
+#include "imstkDeviceClient.h"
+
+#include <HD/hd.h>
+
+#include <memory>
+
+namespace imstk {
+
+struct HD_state
+{
+ HDdouble pos[3];
+ HDdouble vel[3];
+ HDdouble trans[16];
+ HDint buttons;
+};
+
+///
+/// \class HDAPIDeviceClient
+/// \brief Subclass of DeviceClient for phantom omni
+///
+class HDAPIDeviceClient : public DeviceClient
+{
+public:
+
+ HDAPIDeviceClient(std::string name):
+ DeviceClient(name, "localhost")
+ {}
+
+ virtual ~HDAPIDeviceClient() {}
+
+protected:
+
+ void initModule() override;
+ void runModule() override;
+ void cleanUpModule() override;
+
+private:
+
+ static HDCallbackCode HDCALLBACK hapticCallback(void* pData);
+
+ HHD m_handle; //!< device handle
+ HD_state m_state; //!< device reading state
+
+};
+}
+
+#endif // ifndef imstkHDAPIDeviceClient_h
diff --git a/Examples/Sandbox/main.cpp b/Examples/Sandbox/main.cpp
index abacade318eaf46abb5aac4cd69429b33ef108eb..9957e931407eabc9b558616d7418be38000b3cf0 100644
--- a/Examples/Sandbox/main.cpp
+++ b/Examples/Sandbox/main.cpp
@@ -28,6 +28,7 @@
#include "imstkOneToOneMap.h"
// Devices
+#include "imstkHDAPIDeviceClient.h"
#include "imstkVRPNDeviceClient.h"
#include "imstkVRPNDeviceServer.h"
#include "imstkCameraController.h"
@@ -259,35 +260,23 @@ void testObjectController()
auto sdk = std::make_shared<imstk::SimulationManager>();
auto scene = sdk->createNewScene("SceneTestDevice");
- // Device server
- auto server = std::make_shared<imstk::VRPNDeviceServer>("127.0.0.1");
- server->addDevice("device0", imstk::DeviceType::SPACE_EXPLORER_3DCONNEXION);
- sdk->addDeviceServer(server);
-
// Device Client
- auto client = std::make_shared<imstk::VRPNDeviceClient>("device0", "localhost"); // localhost = 127.0.0.1
+ auto client = std::make_shared<imstk::HDAPIDeviceClient>("Default PHANToM", "localhost"); // localhost = 127.0.0.1
sdk->addDeviceClient(client);
- // Plane
- auto planeGeom = std::make_shared<imstk::Plane>();
- planeGeom->scale(5);
- auto planeObj = std::make_shared<imstk::VisualObject>("VisualPlane");
- planeObj->setVisualGeometry(planeGeom);
- scene->addSceneObject(planeObj);
-
- // Sphere
- auto sphereGeom = std::make_shared<imstk::Sphere>();
- sphereGeom->setPosition(imstk::UP_VECTOR);
- sphereGeom->scale(0.2);
- auto sphereObj = std::make_shared<imstk::VirtualCouplingObject>("VirtualSphere", client, 20);
- sphereObj->setVisualGeometry(sphereGeom);
- sphereObj->setCollidingGeometry(sphereGeom);
- scene->addSceneObject(sphereObj);
+ // Object
+ auto geom = std::make_shared<imstk::Cube>();
+ geom->setPosition(imstk::UP_VECTOR);
+ geom->scale(2);
+ auto object = std::make_shared<imstk::VirtualCouplingObject>("VirtualObject", client, 0.1);
+ object->setVisualGeometry(geom);
+ object->setCollidingGeometry(geom);
+ scene->addSceneObject(object);
// Update Camera position
auto cam = scene->getCamera();
- cam->setPosition(imstk::Vec3d(0,3,10));
- cam->setFocalPoint(sphereGeom->getPosition());
+ cam->setPosition(imstk::Vec3d(0,0,10));
+ cam->setFocalPoint(geom->getPosition());
// Run
sdk->setCurrentScene("SceneTestDevice");