Force Feedback: Switch to SDL_HAPTIC_CARTESIAN instead of SDL_HAPTIC_POLAR

for force feedback effects

git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@6426 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: 471b2949f757c0da856485f44703a737fe7b5dc3
Former-commit-id: cf6419e1b870fd3687ad91c3f7de0326cf17e0f3

src/libs/robottools/rthumandriver.cpp

@@ -1178,15 +1178,21 @@ static void common_drive(const int index, tCarElt* car, tSituation *s)
 	}
 */
 	force = forceFeedback.updateForce(car, s);
-    
+    //force = force * 32767;
 	/* Force feedback hack 
 	float multiplier = 4;
 	force = (force + (car->_steerTq*multiplier)) / 2; //make the force smoother
 	*/
 	// if force is below 0 we turn anticlock-wise
 	// if force is over 0 we turn clock-wise
-	gfctrlJoyConstantForce(int((cmd[CMD_LEFTSTEER].val) / GFCTRL_JOY_NUMBER), abs((int)force), force < 0 ? 9000 : 27000 );
+//	gfctrlJoyConstantForce(int((cmd[CMD_LEFTSTEER].val) / GFCTRL_JOY_NUMBER), abs((int)force), force < 0 ? 9000 : 27000 );
 	//gfctrlJoyRumble(int((cmd[CMD_LEFTSTEER].val) / GFCTRL_JOY_NUMBER), 0.9);
+//    if (force > 32760) force = 32760;
+//    if (force < -32760) force = -32760;	
+	
+	//gfctrlJoyConstantForce(int((cmd[CMD_LEFTSTEER].val) / GFCTRL_JOY_NUMBER), 10000, 10000);
+	
+	gfctrlJoyConstantForce(int((cmd[CMD_LEFTSTEER].val) / GFCTRL_JOY_NUMBER), ((int)force), 0 );
 
 #define GLANCERATE 3 	// speed at which the driver turns his head, ~1/3s to full glance
     newGlance = car->_glance;

src/libs/tgfclient/control.cpp

@@ -313,6 +313,11 @@ gfctrlJoyInit(void)
 #if SDL_MAJOR_VERSION >= 2
     memset(&cfx, 0, sizeof(cfx));
     
+    for(int i = 0;i<GFCTRL_JOY_NUMBER;i++)
+    {
+      id[i] = -1;
+    }    
+
     if (SDL_InitSubSystem(SDL_INIT_JOYSTICK | SDL_INIT_HAPTIC) < 0) {
 #else
     if (SDL_Init(SDL_INIT_JOYSTICK) < 0) {
@@ -350,7 +355,7 @@ gfctrlJoyInit(void)
 #if 1
 			} else {
 				// add an CF effect on startup
-				gfctrlJoyConstantForce(index, 50000, 9000);
+				gfctrlJoyConstantForce(index, 0, 0);
 #endif
 			}
 
@@ -371,33 +376,43 @@ gfctrlJoyInit(void)
 
 #if SDL_JOYSTICK
 void
-gfctrlJoyConstantForce(int index, unsigned int level, int dir)
+gfctrlJoyConstantForce(int index, int level, int dir)
 {
 #if SDL_MAJOR_VERSION >= 2
 	if (!Haptics[index]) return;
 
 	if ((SDL_HapticQuery(Haptics[index]) & SDL_HAPTIC_CONSTANT) == 0) return;
-
+    printf("level = %d \r\n",level);
+    if(-1 == id[index])
+    {
 	cfx[index].type = SDL_HAPTIC_CONSTANT;
-	cfx[index].constant.direction.type = SDL_HAPTIC_POLAR; // Polar coordinates
+	//cfx[index].constant.direction.type = SDL_HAPTIC_POLAR; // Polar coordinates
-	cfx[index].constant.direction.dir[0] = dir; // direction of the force
+	//cfx[index].constant.direction.dir[0] = dir; // direction of the force
-	cfx[index].constant.length = 1000; //how log is the effect
+	cfx[index].constant.direction.type = SDL_HAPTIC_CARTESIAN;
+	cfx[index].constant.direction.dir[0] = 1;	
+	cfx[index].constant.length = 1000; 
 	cfx[index].constant.level = level; // strength: minimum 0 maximum 32767 
 	cfx[index].constant.attack_length = 0; // Takes 0 second (instantly) to get max strength
-	cfx[index].constant.fade_length = 1000; // Takes 1 second to fade away
+	cfx[index].constant.fade_length = 0; // Takes 0 second to fade away
-
+    //cfx_timeout[index] = SDL_GetTicks() + cfx[index].constant.length;
-#if __WIN32__
-	if (SDL_HapticGetEffectStatus(Haptics[index], id[index]) == SDL_TRUE)
-#else
-	// Linux SDL doesn't support checking status at the moment :-(
-	if (cfx_timeout[index] > SDL_GetTicks())
-#endif
-		SDL_HapticUpdateEffect(Haptics[index], id[index], &cfx[index]);
-	else {
-		SDL_HapticDestroyEffect(Haptics[index], id[index]);
     id[index] = SDL_HapticNewEffect(Haptics[index], &cfx[index]);
-		SDL_HapticRunEffect(Haptics[index], id[index], 1);
+    SDL_HapticRunEffect(Haptics[index], id[index], SDL_HAPTIC_INFINITY);
     }
+    cfx[index].constant.length = 1000; //how log is the effect
+    cfx[index].constant.level = level;
+
+//#if __WIN32__
+//	if (SDL_HapticGetEffectStatus(Haptics[index], id[index]) == SDL_TRUE)
+//#else
+//	// Linux SDL doesn't support checking status at the moment :-(
+//	if (cfx_timeout[index] > SDL_GetTicks())
+//#endif
+		SDL_HapticUpdateEffect(Haptics[index], id[index], &cfx[index]);
+//	else {
+//		SDL_HapticDestroyEffect(Haptics[index], id[index]);
+//		id[index] = SDL_HapticNewEffect(Haptics[index], &cfx[index]);
+//		SDL_HapticRunEffect(Haptics[index], id[index], 1);
+//	}
 
 	cfx_timeout[index] = SDL_GetTicks() + cfx[index].constant.length;
 #endif

src/libs/tgfclient/forcefeedback.cpp

@@ -220,7 +220,7 @@ int ForceFeedbackManager::autocenterEffect(tCarElt* car, tSituation *s){
 	int sign;
 	
 	//force acting on the front wheels
-	effectForce = -1 * car->_steerTqAlign * this->effectsConfig["autocenterEffect"]["frontwheelsmultiplier"] / 1000; 
+	effectForce = car->_steerTqAlign * this->effectsConfig["autocenterEffect"]["frontwheelsmultiplier"] / 1000; 
 
 	//force action on the back wheels
 	effectForce += car->_wheelFy(REAR_RGT) * this->effectsConfig["autocenterEffect"]["rearwheelsmultiplier"] / 1000 ;
@@ -239,7 +239,7 @@ int ForceFeedbackManager::autocenterEffect(tCarElt* car, tSituation *s){
 	//be sure this is a positive number
 	effectForce = effectForce * sign;
 
-//	effectForce = (int)((pow((double) effectForce, (double) 1/2) * 120) * sign);
+	effectForce = (int)((pow((double) effectForce, (double) 1/2) * 120) * sign);
 	
 	return effectForce;
 

src/libs/tgfclient/tgfclient.h

@@ -699,7 +699,7 @@ TGFCLIENT_API tCtrlJoyInfo* GfctrlJoyCreate(void);
 TGFCLIENT_API void GfctrlJoyRelease(tCtrlJoyInfo* joyInfo);
 TGFCLIENT_API int GfctrlJoyGetCurrentStates(tCtrlJoyInfo* joyInfo);
  #if SDL_JOYSTICK
-TGFCLIENT_API void gfctrlJoyConstantForce(int index, unsigned int level, int dir);
+TGFCLIENT_API void gfctrlJoyConstantForce(int index, int level, int dir);
 TGFCLIENT_API void gfctrlJoyRumble(int index, float level);
 TGFCLIENT_API void GfctrlJoySetAxis(int joy, int axis, float value);
 TGFCLIENT_API void GfctrlJoySetButton(int joy, int button, int value);