Springhead

1

Shoichi HASEGAWA, Naoki Okada, Yuuichi TAZAKI, Hirosi ICHIKAWA, Nobuaki FUJII, Akihiko SHIRAI, Shinichirou TAGAMI

Abstract

Springhead is a code name of a virtual reality software development environment, which is being developed by Shoichi Hasegawa, a research associate for Sato & Koike Lab in Tokyo Institute of Technology.
Using Springhead, you can interact with virtual world with physics law via haptic interfaces. Springhead has rigid body motion simulator and haptic device controller.

About this document

This document is generated by Doxygen from soruce code. This page is genarated from Springhead/src/Spinghead.h.

• Please read ReadMe.EN.txt first.
  
• There are some documents on Wiki for Springhead.

You can generate document by executing Springhead/src/SpringheadDoc.bat. If there is some problem in document, Some comments in soruce files may have bugs In such cases, please see doxygen.log.
Please see docxygen's home page for the detail of doxygen.

Architecture

Following is architecture of Springhead�D

Generic utilities for C++ or DirectX.

• Baseƒ‰ƒCƒuƒ‰ƒŠ Basic utility library for C++.
  Classes: Affine Matrix Library UTRef ...
• WinBasisƒ‰ƒCƒuƒ‰ƒŠ Fixing for Windows.h's problem.
  Absorbers for difference in configurations. Wrappers for complicated APIs.
  Classes: Spr::WBMMTimer Spr::WBComStream Spr::WBSocket Spr::WBGuid ...
• WinDXƒ‰ƒCƒuƒ‰ƒŠ Wrappers for DirectX
  Classes: Spr::WXUnknown Spr::WXInterface Spr::WXDXError Spr::WXD3D8Device

Libraries which create the functions of the springhead such as, scene graphs or file loaders and savers.

• SceneGraphƒ‰ƒCƒuƒ‰ƒŠ Scene Graph
  Classes�F Spr::SGFrame Spr::SGVisual ... Implementation is done by ImpD3D.
• FileIO File input/output helper classes.
  File input/output can be done by operating documents, which consist from tree of Spr::FIDocNode. Implimentations are done by inherited package like ImpD3Dƒ‰ƒCƒuƒ‰ƒŠ.

• ImpD3Dƒ‰ƒCƒuƒ‰ƒŠ Implementation with Direct3D,
  Implementation of rendering and file input/output with Direct3D.

Sample programs

• •¨—�ƒVƒ~ƒ…ƒŒ�[ƒ^(VisualC++ MFC SDI”Å) •¨—�ƒVƒ~ƒ…ƒŒ�[ƒVƒ‡ƒ“‚ƃOƒ‰ƒtƒBƒbƒN‚̃fƒ‚
• SPIDAR�i3Ž©—R“x”Å�jƒTƒ“ƒvƒ‹ƒvƒ�ƒOƒ‰ƒ€ —ÍŠoƒCƒ“ƒ^ƒtƒF�[ƒXSPIDAR‚Å•Ç‚ð’ñŽ¦‚·‚邾‚¯‚̃Tƒ“ƒvƒ‹�D•¨—��CƒOƒ‰ƒtƒBƒbƒN‚È‚µ�D
• •¨—�ƒVƒ~ƒ…ƒŒ�[ƒ^‚É—ÍŠoƒCƒ“ƒ^ƒtƒF�[ƒX‚Å‚³‚í‚é�D —ÍŠoƒCƒ“ƒ^ƒtƒF�[ƒX�{•¨—�ƒVƒ~ƒ…ƒŒ�[ƒVƒ‡ƒ“

Tutorial

• ƒ`ƒ…�[ƒgƒŠƒAƒ‹(Visual C++)

How to hack the source

• See the sample program of •¨—�ƒVƒ~ƒ…ƒŒ�[ƒ^‚É—ÍŠoƒCƒ“ƒ^ƒtƒF�[ƒX‚Å‚³‚í‚é�D to understand main flow of the execution.
• You'll find unfamiliar classes and idioms. Please check them, by refering Baseƒ‰ƒCƒuƒ‰ƒŠ, WinBasisƒ‰ƒCƒuƒ‰ƒŠ, WinDXƒ‰ƒCƒuƒ‰ƒŠ.
• If you want to know general structure, see classes and pakages diagram (A desk plan) or real class diagram.
• If you want to know detail of execution, see ImpD3Dƒ‰ƒCƒuƒ‰ƒŠ. That calls DirectX APIs.
• Human interfaces(Human Interface System ƒ‰ƒCƒuƒ‰ƒŠ) such as haptic interfaces are decoupled from device(Device ƒ‰ƒCƒuƒ‰ƒŠ). Therefore, for example, you can change SPIDAR's motor driver with out rewriting algirithum part(Human Interface System ƒ‰ƒCƒuƒ‰ƒŠ).

Miscellany

Treatment of multiple language document

Following is how to make multi-language documents;

• At first, write comment in your mothor tange.
• When writting in other language, insert language identication tag. (So, the source code will have comments in all languages.)
• In document generation, we can use filter to create a document in proper language. The language identification tag is @ ! and language id of two characters (JA is japanese and EN is english). (It should be no space. I can't write real tag because it will be filtered.) Tags affect to next @. By changing INPUT_FILTER in Springhead/src/SpringheadEN.doxy you can choose language of document to generate.

Contact

Shoichi HASEGAWA<hase@hi.pi.titech.ac.jp> Sato & Koike group, Precision and Intelligence Lab, Tokyo institute of technology, 4259 Nagatsuta-cho Midori-ku Yokohama-shi Kanagawa-ken Japan, 226-8503.

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