openhaptics ® toolkit installation guide for windows
Contents
1. install the toolkit as described Software below 1 First locate the installation files If you are installing from CD a Insert the OpenHaptics CD into your CD ROM drive b In Windows Explorer locate the drive letter associated with your CD ROM Drive and double click it c Navigate to either the win32 or x64 folder then double click the OpenHaptics toolkit directory to open it If you are installing from software download a Select the appropriate OpenHaptics product from the Developer Support Center b Save the Zip file to your local system c Locate the OpenHaptics Zip file that you saved to your local system d Unzip the data file Double click setup exe to begin the installation To continue with the installation click Next Read and then accept the license agreement Click Next VI Aa Ww N On the Setup Type window a Select the type of setup you prefer Typical Compact or Custom b Select the destination folder for the install directory The installation wizard will add a new environment variable 3DTOUCH_BASE which will point to the install directory c Click Next 6 Proceed as appropriate for your installation type 2 OpenHaptics Toolkit Installation Guide 7 INSTALLATION Maintaining the OpenHaptics Toolkit e Typical or Compact By default GLUT is selected for install If you do not already have GLUT installed on your computer make sure GLUT is selected for install These are recommended to inco2. successful installation the following entries are placed in the registry e HKEY_LOCAL_MACHINE SOFTWARE SensAble Technologies PHANTOM Device Drivers MajorVersionNumber MinorVersionNumber currently 4 2 e HKEY_LOCAL_MACHINE SOFTWARE SensAble Technologies OpenHaptics toolkit Major VersionNumber MinorVersionNumber currently 3 0 Licensing The OpenHaptics software toolkit for commercial developers requires a license file to run the HDAPI and the HLAPI programs Once you have received your license file it is recommended that you place it in a local directory e g C OpenHaptics License You should then create an environment variable named OH_SDK_LICENSE_PATH and set the value as the location of the license file Note that the OpenHaptics toolkit license file should be named either e OHlicense lic orlicense lic As an alternative you can place the license file in the same folder as your OpenHaptics program s executable file However setting the environment variable is the recommended method for managing your licensing Two kinds of licensing are supported either a temporary license that you will receive along with the initial product CD or a permanent node locked license that is tied to a particular computer A permanent license can be requested from the SensAble website For host identification the Volume Serial Number of the C drive is used This can be easily found using the dir command at the cmd promp
3. to the most current information and forums for the OpenHaptics toolkit Please note that you will be asked to create a registration profile and have your customer information authenticated before you will have access to the DSC Typographical Conventions This guide uses the following typographical conventions Convention Italics Description First use of a new term reference to another document or file an argument Example See the User Manual BoldFace Function name or parameter embedded in text capabilities are set using hdEnable Note Warning Important Calls out important additional information Note See table 2 OpenHaptics Toolkit Installation Guide Installation This chapter contains the following sections Section Page System Requirements Installing the OpenHaptics Toolkit Maintaining the OpenHaptics Toolkit Directory Structure External Modules Registry Entries Licensing N QIJ QI J AJOJN System Requirements Hardware Software Compilers IMPORTANT See the ReadMe in the lt OpenHaptics Install directory gt or visit www sensable com for the most current system requirements information The OpenHaptics toolkit requires certain hardware and software components in order to function properly These requirements are listed below e Intel Pentium 4 or higher e 512 MB disk space and 1 GB
4. NTOM Device Drivers or PDD PHANTOM Omni haptic device Not applicable Warranties and Disclaimers SensAble Technologies does not warrant that this publication is error free This publication could include technical or typographical errors or other inaccuracies SensAble may make changes to the product described in this publication or to this publication at any time without notice Questions or Comments If you have any questions for our technical support staff please contact us at support sensable com You can also phone 1 888 SENSABL U S A only or 1 781 937 8315 International If you have any questions or comments about the documentation please contact us at documentation sensable com Corporate Headquarters SensAble Technologies Inc 15 Constitution Way Woburn MA 01801 Phone 1 888 SENSABL U S A only E mail support sensable com Internet http www sensable com Last Updated 24 March 2009 2 49 pm P N 02815 R2 Preface Resources for Learning the OpenHaptics Toolkit SensAble provides the following documentation and other materials for learning OpenHaptics OpenHaptics Installation Guide This guide walks you through installing the toolkit and deploying your haptically enabled application Detailed instructions for installing the PHANTOM haptic device can be found in the PHANTOM Device User s Guide that came with your device This can also be found on the OpenHaptics CD OpenHaptics Prog
5. OPENHAPTICS TOOLKIT version 3 0 INSTALLATION GUIDE FOR WINDOWS OpenHaptics Toolkit version 3 0 Copyright Notice 1999 2008 SensAble Technologies Inc All rights reserved Printed in the USA Except as permitted by license no part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means electronic mechanical recording or otherwise without prior written consent of SensAble Technologies Trademarks 3D Touch ClayTools FreeForm FreeForm Modeling FreeForm Modeling Plus GHOST HapticExtender HapticSound NetTouch OpenHaptics PHANTOM PHANTOM Desktop PHANTOM Omni QuickHaptics SensAble SensAble Technologies Inc TextureKiln and WebTouch are trademarks or registered trademarks of SensAble Technologies Inc Other brand and product names are trademarks of their respective holders Use of Trademarked Terms In general the full legal trademarked name of the SensAble Technologies product including the trademark symbol is only used in its first mention in this guide Subsequent mentions of the term may be abbreviated and do not include the trademark symbol The following table summarizes usage of trademarked terms First Use Subsequent Use OpenHaptics toolkit OpenHaptics or OpenHaptics toolkit QuickHaptics micro API QuickHaptics or QuickHaptics micro API PHANTOM haptic device PHANTOM or PHANTOM device PHANTOM Device Drivers PHA
6. RAM e One of the supported devices from the PHANTOM family of haptic devices IEEE 1394a firewire port PHANTOM Omni haptic device PHANTOM Premium 3 0 6DOF Enhanced Parallel Port device Enhanced Parallel Port PHANTOM Desktop haptic PHANTOM Premium A 1 0 1 5 3DOF Enhanced Parallel Port Enhanced Parallel Port PHANTOM Premium 1 5 6DOF PHANTOM Premium L 3 0 3DOF Enhanced Parallel Port e Windows XP or XP 64 SP2 or Vista or Vista 64 e MicroSoft Visual Studio NET 2003 or Visual Studio NET 2005 OpenHaptics Toolkit Installation Guide INSTALLATION Installing the OpenHaptics Toolkit Drivers e Latest PHANTOM Device Drivers PDD Please refer to SensAble web site to download the most recent PDDs Installing the OpenHaptics Toolkit Installation Overview Installing the OpenHaptics toolkit is a two step process 1 Install the required PHANTOM Device Drivers PDD 2 Install the software the OpenHaptics toolkit according to the instructions that follow Step 1 Install PDD Before you can use the OpenHaptics toolkit you will need to first remove then install the PDDs The device driver installation can be found on the OpenHaptics product CD or from the SensAble website For complete installation instructions for the PDDs see the PHANTOM lt device gt User s Guide that shipped with the device Step 2 Install After you have completed the installation of the PDDs
7. ard mouse to manipulate Windows GUI objects These are intended to facilitate development by providing commonly used pieces of functionality to support HDAPI and HLAPI Source code is provided for all utilities These classes and functions are not required to use the HLAPI and HDAPI Their interfaces are subject to change with new releases of OpenHaptics However they are provided as statically linked libraries so that binary compatibility of programs using HLAPI and HDAPI may be maintained even if the utilities change Within utilities you will find the following include If you want to use the facilities exposed by the utilities you must add 3DTOUCH_BASE utilities include to the include path Each utility is located in a separate subdirectory e GL only if you selected to install GLUT files e HapticMouse e HLU e HDU e SnapConstraints lib This directory contains the lib files for all the utilities If you modify and rebuild the utilities source this will update the lib files in this directory as a post build step src Like the include subdirectory each utility library is located in a separate subdirectory e HapticMouse e HLU e HDU OpenHaptics Toolkit Installation Guide 5 INSTALLATION Directory Structure QuickHaptics SnapConstraints All utility libraries by default are compiled from MS Visual Studio 2005 developer platform If you want to use the MS Visual Studio NET 2003 platform you must recompile a
8. d with all editions of OpenHaptics See your license agreement 4 OpenHaptics Toolkit Installation Guide include lib runtime utilities INSTALLATION Directory Structure console Examples that only employ a windows command prompt graphics Examples that use OpenGL most also use GLUT Contains the header files of the 3D Touch SDK It is the main include directory of the 3D Touch suite It is most conveniently referenced by adding 3DTOUCH_ BASE include to the include path to your project settings Contains the library objects lib files as well as the dynamically linked libraries dll files Note that the default runtime path is not set to include this directory therefore the DLLs that live in this directory will not be loaded by default We placed the DLLs in this directory to make it easier for end users to maintain multiple versions of the SDK Contains the runtime installer that can be used for deployment of the OpenHaptics runtime components Depending on your license agreement this directory may not be included The right to deploy is subject to a separate agreement and it is not automatically granted to 3D Touch SDK developers Utilities include various functions such as simple vector and matrix math haptic workspace to camera mapping a haptic device C wrapper for state event synchronization and servo loop data logging and Haptic Mouse which allows users to use the PHANTOM device in addition to the stand
9. ics toolkit from the list Note The product name may vary depending on your license agreement c Click Next and jump to step 3 If you want to install the same product to a different location on your computer a Select Install a new copy of the product b Click Next and follow the instructions starting with step 3 in Installing the OpenHaptics Toolkit on page 2 c Click Finish when you are done OpenHaptics Toolkit Installation Guide 3 INSTALLATION Directory Structure 3 If you choose to modify repair or uninstall next choose your maintenance option Modify Will let you select deselect the components as described in Custom Only Select your components on page 3 Some considerations e If you deselect a component that is currently installed then that component will be uninstalled e Ifyou select a component that is currently not installed then that component will be installed Ifyou leave a component selected that is already installed then the component will remain installed on your computer Repair Attempts to retry the installation as you specified during the first run This is useful if you mistakenly deleted some files or the installation procedure was corrupted in some way Remove Uninstalls all of the components you have installed on your computer 4 Click Next and follow the on screen instructions Directory Structure doc examples The toolkit is broadly partitioned into the fo
10. ll of the utility libraries MS Visual Studio 6 0 is no longer supported Contains the library objects header files pre built executables and source code examples for the QuickHaptics micro API The included Project Solution files use the 3DTOUCH_ BASE environment variable to locate these files Examples Contains the C source code for all the QuickHaptics examples described in the OpenHaptics Programmer s Guide Please note that since relative pathnames are used if application files are moved then the associated model files should be moved as well header Contains the C header files that need to be included for a QuickHaptics application lib This directory contains the lib files needed to link QuickHaptics applications This directory also includes a subdirectory for FreeType Portions of this software are copyright 2006 The FreeType Project www freetype org All rights reserved 6 OpenHaptics Toolkit Installation Guide INSTALLATION External Modules External Modules The toolkit installation includes as an option the ability to install the GLUT Graphics Library Utility Toolkit This library is used by most of the graphics enabled examples that are included with source code in the SDK distribution The files and installation directories are glut32 dll System directory glut32 lib 3DTOUCH_BASE utilities lib glut h 3DTOUCH_BASE utilities include GL Registry Entries Upon
11. llowing directories Lib Include Utilities Examples Runtime and Docs Upon installation the user can specify an installation directory and optionally install GLUT see External Modules on page 7 The default value of the installation directory is C Program Files Sensable 3DTouch The installation program also adds a new environment variable 3DTOUCH_BASE Upon successful installation of the toolkit the environment variable points to the install directory All subdirectories described in this directory are relative to the 3DTOUCH_BASE directory Contains documents such as the License Agreement the API Reference the Programmer s Guide this Installation Guide and an HTML page that provides a guide and link to the source code examples The standard installation includes various examples including complete programs for illustrating how to query buttons position velocity the end effector transform matrix as well as basic HLAPI rendering Vista users may need to copy the examples to their Windows desktop or My Documents directory in order to compile the examples Within the examples directory are three sub directories bin Contains the pre built executables of the source code examples HD Contains console and graphics directories for the Haptic Device API examples HL Contains console and graphics directories for the Haptic Library API examples Within the HD and HL directories you will find the following 1 Not include
12. rammer s Guide This guide explains the OpenHaptics toolkit which includes the QuickHaptics micro API and introduces you to the architecture of the toolkit how it works and what you can do with it The guide will also introduce you to the fundamental components of creating haptic environments OpenHaptics API Reference This manual is meant to be used as a companion to the OpenHaptics Toolkit Programmer s Guide It contains reference pages to all the QuickHaptics micro API and OpenHaptics toolkit HDAPI and HLAPI functions and types as well as appendices with tables that describe all the parameters Source Code Examples amp Guide Several examples with source code to illustrate commonly used functionality of the HDAPI and HLAPI are installed with the toolkit These include both console examples and graphics examples A guide to these examples is located in lt OpenHaptics Install directory gt doc Developer Support Center The Developer Support Center is described in more detail below OpenHaptics Toolkit Installation Guide 1 PREFACE Typographical Conventions The Developer Support Center A more recent version of this document may be available for download from the SensAble online Developer Support Center DSC To access the DSC use the link in the upper right corner of SensAble s home page www sensable com or visit the SensAble Support page at www sensable com support The DSC provides customers with 24 x 7 access
13. rporate visualizations with your haptics programs and are needed to build many of the sample programs e Custom Only Select your components Examples Installs all of the example applications Program Files Installs all of the necessary program files This should generally always remain selected Help Files Installs the help documentation External gt GLUT Installs the GLUT display libraries These are recommended to incorporate visualizations with your haptics programs See External Modules on page 7 for more information Click Next Install the files by clicking Install If you need to end the installation click Cancel Note The OpenHaptics installation directory is labeled 3D Touch File access permissions may not be uniform across all Windows platforms In some cases it may be necessary to remove a previous OpenHaptics installation manually before reinstalling the software Please make sure to back up the code for your project solutions before doing this Maintaining the OpenHaptics Toolkit If after installing the toolkit you find the need to modify the installation for any reason read the following instructions 1 Locate as described in the previous section and re execute the OpenHaptics setup exe A maintenance window opens and you are given two options Choose one option If you want to modify repair or uninstall your installation a Select Update the product selected below b Select OpenHapt
14. t OpenHaptics Toolkit Installation Guide 7 INSTALLATION Licensing 8 OpenHaptics Toolkit Installation Guide
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