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H3D source code

Source code for H3D. This include source code the following libraries:
H3DAPI, HAPI, H3DUtil - Core libraries.
H3DPhysics, MedX3D, UI - Toolkits

If it is desired to download source code for only one or a few of the libraries visit ftp://www.h3dapi.org/pub/releases/source/

Here follows a description of each library and their changes.
H3DUtil is a utility library from the makers of H3DAPI. It is the library used by HAPI 1.2. H3DUtil documentation is avaliable at the documentation page.

Changes for version 1.2

- CMake updates to configure build for MinGW toolchain.
- New constructors to Matrix4f(d) to construct matrix from position,
rotation and scale parameters.
- Fixes to make a proper debian package.
- New constructors for 4 component constructs to use their 3 component version
plus a single value for the 4th component.
- Fixed bugs with Dicom image loading.
- Fixed a bug in assignment operator of AutoRefVector that would cause a crash
if NULL was added to the vector .
- Fixed a bug that could result in thread locking when a PeriodicThread was
- Updates to compile with gcc 4.5.
- Fixed bug that could cause a problem when deallocating PixelImage instances
created by the loadNrrdFile.
- Fixed a bug that could result in callbacks not being removed from
removeAsynchronousCallback and clearAllCallbacks.
- Added nrPixelComponents and convertToNormalizedData function to Image class.


HAPI is a haptics rendering C++ library from the makers of H3DAPI. It is the library used by H3DAPI 2.2 but can be used separately. HAPI documentation is avaliable at the documentation page.

HAPI should be used when developing haptics applications (when H3DAPI is not desired). It is a modular library and is easily customized to the developers requirements.

Changes for version 1.2
- Able to build HAPIDemo with wxWidget 2.8 and 2.9
- Updates to configure build for MinGW build toolchain.
- Updates to make a proper debian package.
- Updates to ErrorHandler system for haptics devices.
- Many CMake updates for building using a top CMakeLists.txt.
- Fixed thread bugs with FalconHapticsDevice.
- Added alwayFollowSurface option to RuspiniRenderer.
- Added force and torque limits to haptics devices.
- Support for 64 bit dhd (forcedimension).
- Added torque to HapticForceField.
- Added HapticRotationalSpring
- Added damping and position_interpolation to HapticSpring
- Added HaptionHapticsDevice, support for devices from Haption.
- Added MLHIHapticsDevice, support for the Butterfly haptics magnetic
levitation haptics device.
- Added EntactHapticsDevice, support for haptics devices from Entact Robotics.
- Updates to Chai3DRenderer to use new Chai3D version.
- Fixed a bug in SensableHapticsDevice that sent on torques in Nm instead of
Nmm which is expected by the driver.
- Update CMake system to work with new 64-bit windows external libraries.
-Added rotation to HapticMasterDevice

New classes:
- HapticRotationalSpring
- HaptionHapticsDevice
- MLHIHapticsDevice
- EntactHapticsDevice


H3DAPI 2.2.0. Installation guide for Linux and Mac OS available in the H3DAPI 2.2 manual at the documentation page.

Changes for version 2.2:
- Added functionality for more convenient Import/Export use of Inlined files.
- Added a node clone function. Exposed in python.
- Some DynamicTransform now only updates when value actually change.
- MField::insert() functions fixes to take const_iterator.
- Fix so that ImportLibrary supports specification of several optional paths to
a library in the url field
- Many CMake updates to handle configuration settings for building with various
- New stereo formats, HDMI_FRAME_PACKED_720P and HDMI_FRAME_PACKED_1080P
- Added support for tesselation shaders.
- Added Testsuit (well first version) which can be used to detemine if
rendering with vertex buffer objects is faster for a specific system.
- Added support for giving inline scripts as CDATA for xml files.
- TwoSidedMaterial::backTransparency is now properly used.
- Fixed bug in CoordinateDeformer. It was always deforming for device 0.
- Fixed issue with obtaining wrong ResourceResolver instance.
- Added force and torque limits to haptics devices.
- Added program settings functionality.
- VRML parser updates to work properly with DEF/USE.
- A DeformableShape instances first occurance in scene graph detemines its deformation.
- deviceInfo field common for all force effects. It is now a MFInt32.
- New base class H3DSingleTextureNode for texture nodes which specify a texture using a
single texture id.
- Fixed use of wrong coordinate system in ProximitySensor.
- Proper implementation of calibration field in PhantomDevice.
- Extrusion updates to comply with latest spec.
- H3DViewer navigation keyboard short-cut now need Alt button pressed.
- Support for including dynamic fields in writeNodeToX3D functions.
- Updates for better support of the X3D proto system.
- H-anim X3D component support.
- Fixed variuos bugs with textures.
- Added generated shader nodes framework.
- Updates to make it easier to configure correct stereo for head mounted displays.
- Support for float internal texture formats.
- Support for full screen anti-aliasing.
- UnityBuild option for users that frequently recompile the API and want to save time.
- H3DViewer use wxWidgets 2.9 and wxPropertyGrid feature.
- 64 bit builds of external libraries.
- DEF is no longer an alternative to moduleName for a PythonScript.
- Documentation now contains a page listing all nodes and their fields.
- Memory leak fixes.
- Support for rendering using vertex buffer object of nodes IndexedTriangleSet, Sphere, Cylinder,
ElevationGrid and SuperShape.
- Tangent space normal maps in PhongShader node and automatic tangent vertex attribute
generation for IndexedTriangleSet/IndexedFaceSet.
- Support for haptics devices from Haption (VirtuoseDevice).
- PythonScript cleanup on destruction fixes.
- h3dload.ini is now stored in users location if user do not have access rights to
write to default location.
- GraphicsCachingOptions is now named GraphicsOptions.
- X3DPointingDeviceSensor updates to comply with X3D specification.
Also fixed other errors with X3DPointingDeviceSensors.
- Added support for geometry shaders.
- Fixed maxDistance issues with HapticLayeredGroup.
- SpiderMonkey updates. That is much better ECMAscript support.
- ToggleGroup and Clipplane can now be set to work per haptics device.
- Fix bugs with dual windows navigation
- Several new x3d example files to cover all nodes.
- Updates to get correct default headlight in stereo rendering.
- Updates to Shadow geometries and shadows can be done by shaders.
- Several updates to multiPassTransparency.
- Added resolveURLAsFolder functionality

New H3D nodes:

Fields added to existing nodes:
ClipPlane - hapticsOnDevice
ComposedShader - transparencyDetectMode
CoordinateDeformer - deviceAlgorithm
FakeHapticsDevice - deviceName
ForceField - torque
GlobalSettings - x3dROUTESendsEvent, loadTexturesInThread, renderMode
GraphicsOptions - useDefaultShadows, defaultShadowDarkness, preferVertexBufferObject, defaultShadowGeometryAlgorithm
H3DHapticsDevice - forceLimit, torqueLimit
H3DWindowNode - clipDistances
Inline - importMode, traverseOn
NavigationInfo - nearVisibilityLimit
OrthoViewpoint - retainAspectRatio
PhantomDevice - motorTemperatures
RenderProperties - alphaFunc, alphaFuncValue, blendFuncSrcFactorRGB,
blendFuncSrcFactorAlpha, blendFuncDstFactorRGB,
blendFuncDstFactorAlpha, blendEquationRGB,
blendEquationAlpha, blendColor
RuspiniRenderer - alwaysFollowSurface
SpringEffect - damping, positionInterpolation, interpolatedPosition
ToggleGroup - hapticsOnDevice
TransformInfo - outputGLMatrices, glModelViewMatrix, glModelViewMatrixInverse,
glProjectionMatrix, glProjectionMatrixInverse

Deprecated nodes:

New python functionality:
- Python created thread can run without H3D python code being run.
- Copy constructors to H3DInterface.Vec classes.
- new python functions:
- Python doxygen documentation added.
- New constructor for Matrix4f/4d to construct matrix given
translation, rotation and scale.

Compatability issues:
- If deviceInfo field of force effect is not explicitly set then a force effect
will now affect all connected devices and not just the first one. In python
deviceInfo must be set using a list (SFInt32 -> MFInt32).
- preRender/postRender C++ functions must be updated due to change of handling
OpenGL attribute stack (it is quite small).


H3DPhysics is a cross-platform implementation of the Rigid body physics component of X3D for use with H3D API. This version of H3DPhysics is tested against H3D API 2.2.0.

This toolkit used to be named RigidBodyPhysics.

H3DPhysics add rigid body physics models for use in H3D API. Which means that the user can build scenes in which object behave in a physically correct manner. Rigid body physics means that the objects are treated as solid, unchangeable sets of mass with a velocity. These bodies can be connected with the use of various form of joints, that allow one body's motion to affect another.

H3DPhysics for H3D API use ODE (Open Dynamics Engine) for Rigid body physics by default but can also be compiled with support for PhysX or Bullet as physics engines. Also partial support for PhysX3 is implemented.

For soft body physics Bullet is default. PhysX can also be used.

Changes for version 1.2.0:
- H3DPhysics additions to H3DAPIs python interface to get utility functions
in python when using H3DPhysics.
- The package is now called H3DPhysics instead of RigidBodyPhysics.
It contains the X3D RigidBodyPhysics component as well as a well thought
through suggestion for SoftBody capabilities. Of course H3DPhysics offers
haptics capabilities for soft bodies as well.
- New physics engine implemented. PhysX3, still in alpha state.
- New physics engine implemented. SOFA, still in alpha state.
- Fixes to make sure that gravity does not affect scene before all object
are included at startup.
- Support for SoftBodies using Bullet and PhysX. This support is still in beta.
Bullet implementation is fairly stable.
- Improved bullet support. Joint types are now supported with Bullet.


Source package for the toolkit MedX3D 1.3. Source builds against H3DAPI 2.2.0.

MedX3D is an implementation of Volume Rendering component of X3D.

MedX3D contains nodes for visual rendering of volume data, such as medical data from CT/MRI-scans. A correct X3D file using X3D volume rendering component nodes must specify a volume data node, a volume style node and the data for which to apply this style.
The existing volume data nodes are:
- VolumeData
- SegmentedVolumeData
- IsoSurfaceVolumeData

The styles to choose from are:
- BlendedVolumeStyle.
- BoundaryEnhancementVolumeStyle
- CartoonVolumeStyle
- ComposedVolumeStyle
- EdgeEnhancementVolumeStyle
- ISOSurfaceVolumeStyle
- MIPVolumeStyle, deprecated, use ProjectionVolumeStyle instead.
- OpacityMapVolumeStyle
- ProjectionVolumeStyle
- ShadedVolumeStyle
- SilhouetteEnhancementVolumeStyle
- ToneMappedVolumeStyle

The formats for volume data supported by MedX3D toolkit are:
- raw
- nrrd

MedX3D also supports preintegrated volume rendering, cubic filtering and stochastic jittering.

The MedX3D toolkit also contains various extra nodes not specified in the specification for the volume rendering component, such as an implementation of the Marching cubes algorithm and various nodes to extend the functionality of MedX3D.

MedX3D does not contain any specific haptic features.

Changes for version 1.3.0:
- Fixes to raycaster for AMD cards.
- CMake updates to configure properly for several compilers.
- Made sure every node has an example file.
- Changed color fields of several node to RGBA because of specification update.
- Restructuring to set volume renderer through renderer field in X3DVolumeNode.
- Added support for the enabled field in BlendedVolumeStyle
- Added support for orthographic projection to ray caster code
- Fixed a bug that would make the volume rendering disappear if one moved
into the volume.
- Added support for float textures in MarchingCubes node.

New nodes
- RayCaster
- MultiVolumeRayCaster
- SliceRenderer

Removed nodes:
- IsoSurfaceVolumeStyle


This is the source package of UI 2.2.0. It is compatible with H3DAPI 2.2.0. It contains the source code needed to build the UI. Cross platform, works on Windows/Linux/Mac OS. It is a collection of nodes that can be used to add a haptic user interface in a H3D scene.

Allow for creation of buttons, slider bars etc touchable by haptics device or mouse..

Changes for version 2.2.0:
- All UI nodes now have examples.
- Exposed appearance and textAppearance field for all labeled widgets.
- CMake update to support various compilers on various systems.
- Added isActive to SliderBar, indicates if sliderbar is in use.

  • H3D
  • H3DAPI
  • H3D API
  • Source Code
  • H3DUtil
  • Source
  • HAPI
  • API
  • Haptics
  • Library
  • RigidBodyPhysics
  • X3D
  • H3DPhysics
  • MedX3D
  • Volume Rendering
  • UI
  • Haptic UI
  • Haptic user interface

Submitter: Markus
Released: Tue, 16-Apr-2013

Version: 2.2.0
Downloads: 1524
File Size: 36.92 MB
Platform: None
Home Page: SenseGraphics

Rating:   (0 Votes)

Download Times:
Modem(56k) : 2h42min
ISDN(64k) : 1h29min
DSL(768k) : 7.5min
LAN(10M) : 34s

Other files by: Markus
H3DViewer 2.3.0 for OSX 10.6.8 (Fri, 13-Jun-2014)
H3DAPI 2.3.0 Windows Installer (Fri, 13-Jun-2014)
H3D 2.3 source code (Fri, 13-Jun-2014)
H3DViewer 2.2.0 for OSX 10.6.8 (Tue, 16-Apr-2013)
H3DViewer 2.2.0 for OSX 10.8.3 (Tue, 16-Apr-2013)
H3DAPI 2.2.0 Windows Installer (Tue, 16-Apr-2013)
H3D source code (Tue, 16-Apr-2013)
H3DAPI 2.1.1 Windows Installer (Tue, 06-Apr-2010)
H3DViewer 2.1.1 for Windows (Tue, 06-Apr-2010)
HAPI 1.1.1 Windows Installer (Tue, 06-Apr-2010)
MedX3D 1.2.0 Source Code (Tue, 06-Apr-2010)
UI 2.1.1 Source Code (Tue, 06-Apr-2010)
HAPI 1.1.1 Source Code (Tue, 06-Apr-2010)
H3DAPI 2.1.1 Source Code (Tue, 06-Apr-2010)

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