This class implements a haptic point on a tool. More...

#include <CHapticPoint.h>

Public Member Functions
	cHapticPoint (cGenericTool *a_parentTool)
	Constructor of cHapticPoint. More...

virtual	~cHapticPoint ()
	Destructor of cHapticPoint. More...

void	initialize ()
	This method resets the haptic point to the current position of the haptic device. More...

void	initialize (cVector3d a_globalPos)
	This method initializes the haptic point to a desired position. More...

cGenericTool *	getParentTool ()
	This method returns a pointer to the parent tool. More...

cVector3d	getGlobalPosGoal ()
	This method returns the current desired goal position of the haptic point in world coordinates. More...

cVector3d	getGlobalPosProxy ()
	This method returns the the current proxy position of the haptic point in world coordinates. More...

cVector3d	getLocalPosGoal ()
	This method returns the current desired goal position of the haptic point in local tool coordinates. More...

cVector3d	getLocalPosProxy ()
	This method returns the current proxy position of the haptic point in local tool coordinates. More...

void	setRadius (double a_radius)
	This method sets the radius size of the haptic point. More...

void	setRadius (double a_radiusDisplay, double a_radiusContact)
	This method sets the radius size of the haptic point. More...

void	setRadiusContact (double a_radiusContact)
	This method sets the radius size of the physical proxy. More...

double	getRadiusContact ()
	This method returns the radius size of the physical proxy. More...

void	setRadiusDisplay (double a_radiusDisplay)
	This method sets the radius size of the sphere used to display the proxy and goal position. More...

double	getRadiusDisplay ()
	This method returns the display radius size of the proxy and goal spheres. More...

void	setShow (bool a_showProxy=true, bool a_showGoal=false, cColorf a_colorLine=cColorf(0.5, 0.5, 0.5))
	This method sets the display options of the goal and proxy spheres. More...

bool	createAudioSource (cAudioDevice *a_audioDevice)
	This method Create an audio source for this haptic point. More...

int	getNumCollisionEvents ()

cCollisionEvent *	getCollisionEvent (const int a_index)

int	getNumInteractionEvents ()

cInteractionEvent *	getInteractionEvent (const int a_index)

cVector3d	computeInteractionForces (cVector3d &a_globalPos, cMatrix3d &a_globalRot, cVector3d &a_globalLinVel, cVector3d &a_globalAngVel)
	This method computes all interaction forces between the haptic point and the virtual environment. More...

cVector3d	getLastComputedForce ()
	This method returns the last computed force in global world coordinates. More...

bool	isInContact (cGenericObject *a_object)
	This method checks if the tool is touching a particular object. More...

void	render (cRenderOptions &a_options)
	This method renders the haptic point graphically using OpenGL. More...

Public Attributes
cAlgorithmFingerProxy *	m_algorithmFingerProxy
	Finger-proxy algorithm used for modeling contacts with cMesh objects. More...

cAlgorithmPotentialField *	m_algorithmPotentialField
	Potential field algorithm used for modeling interaction forces with objects that have haptic effects programmed. More...

cShapeSphere *	m_sphereProxy
	Sphere object used for rendering the proxy position. More...

cShapeSphere *	m_sphereGoal
	Sphere object used for rendering the goal position. More...

cColorf	m_colorLine
	Color of the display line that connects both spheres (proxy and goal). More...

Protected Member Functions
void	updateSpherePositions ()
	This method updates the position of the spheres (proxy and goal) in local tool coordinates. More...

Protected Attributes
cGenericTool *	m_parentTool
	Parent tool. More...

cVector3d	m_lastComputedGlobalForce
	Last computed interaction force [N] in world global coordinates. More...

double	m_radiusDisplay
	Radius used for rendering the proxy and goal spheres. More...

double	m_radiusContact
	Radius used to model the physical radius of the proxy. More...

cGenericObject *	m_meshProxyContacts [3]
	Pointer to mesh objects for which the proxy is in contact with. More...

cAudioSource *	m_audioSourceImpact [3]
	Optional audio source for rendering sound impacts with environment. More...

cAudioSource *	m_audioSourceFriction [3]
	Optional audio source for rendering sound friction. More...

bool	m_useAudioSources
	If true then audio sources are enabled. More...

cGenericObject *	m_audioProxyContacts [3]
	Pointers to mesh objects for which the proxy was last in contact with. More...

Detailed Description

cHapticPoint describes a haptic interaction point associated with a tool. A tool may combine one or more haptic points depending of its type. For instance a cursor type tool will typically contain a single haptic point, whereas a gripper type tool will contain at least two haptic points (one for the finger and a second for the thumb).

An haptic point stores a desired goal position and a current proxy position. The goal point represents the current position of the haptic device and the proxy point follows the desired goal while respecting the constraints (triangles) of the environment.

Force rendering algorithms are assigned to each haptic point to compute the interaction force between the haptic point and the objects that compose the environment.

Constructor & Destructor Documentation

chai3d::cHapticPoint::cHapticPoint ( cGenericTool * a_parentTool )

Constructor of cHapticPoint.

chai3d::cHapticPoint::~cHapticPoint ( )

virtual

Destructor of cHapticPoint.

Member Function Documentation

void chai3d::cHapticPoint::initialize ( )

This method resets the position of the proxy to be at the current desired goal position.

void chai3d::cHapticPoint::initialize ( cVector3d a_globalPos )

This method initializes the position of the haptic point to a new desired position. The proxy and the device are set to the same value despite any constraints.

Parameters

a_globalPos New desired position of the haptic point.

cGenericTool* chai3d::cHapticPoint::getParentTool ( )

inline

cVector3d chai3d::cHapticPoint::getGlobalPosGoal ( )

This method returns the current desired goal position of the contact point in world global coordinates.

Returns: Goal position of haptic point.

cVector3d chai3d::cHapticPoint::getGlobalPosProxy ( )

This method returns the current proxy position of the haptic point in world global coordinates.

Returns: Proxy position of haptic point.

cVector3d chai3d::cHapticPoint::getLocalPosGoal ( )

This method returns the current desired goal position of the haptic point in local tool coordinates.

Returns: Goal position of haptic point.

cVector3d chai3d::cHapticPoint::getLocalPosProxy ( )

This method returns the current proxy position of the haptic point in local tool coordinates.

Returns: Proxy position of haptic point.

void chai3d::cHapticPoint::setRadius ( double a_radius )

This method sets the radius size of the haptic point. The radius affects the physical radius of the proxy and the radius of the spheres that are used to render the goal and proxy positions.

Parameters

a_radius New radius for display rendering and contact computation.

void chai3d::cHapticPoint::setRadius	(	double	a_radiusDisplay,
		double	a_radiusContact
	)

This method sets the radius size of the display spheres (goal and proxy) and physical contact sphere (proxy) used to compute the contact forces. Setting the a_radiusContact parameter to zero will generally accelerate the force rendering algorithm. For more realistic effects, settings both values to be identical is recommended

Parameters

a_radiusDisplay	New radius for display of spheres (proxy and goal).
a_radiusContact	New radius for contact computation (proxy).

void chai3d::cHapticPoint::setRadiusContact ( double a_radiusContact )

This method sets the radius size of the physical proxy.

Parameters

a_radiusContact New radius for contact computation (proxy).

double chai3d::cHapticPoint::getRadiusContact ( )

inline

void chai3d::cHapticPoint::setRadiusDisplay ( double a_radiusDisplay )

This method sets the radius size of the sphere used to display the proxy and goal position.

Parameters

a_radiusDisplay New radius for display of spheres (proxy and goal).

double chai3d::cHapticPoint::getRadiusDisplay ( )

inline

void chai3d::cHapticPoint::setShow	(	bool	a_showProxy = `true`,
		bool	a_showGoal = `false`,
		cColorf	a_colorLine = `cColorf(0.5, 0.5, 0.5)`
	)

This method sets the display options of the goal and proxy spheres. If both spheres are enabled, a small line is drawn between both spheres.

Parameters

a_showProxy	If true, then the proxy sphere is displayed.
a_showGoal	If true, then the goal sphere is displayed.
a_colorLine	Color of line connecting proxy to goal spheres.

bool chai3d::cHapticPoint::createAudioSource ( cAudioDevice * a_audioDevice )

This method creates an audio source for this haptic point.

Parameters

a_audioDevice Audio device.

int chai3d::cHapticPoint::getNumCollisionEvents ( )

inline

cCollisionEvent* chai3d::cHapticPoint::getCollisionEvent ( const int a_index )

inline

int chai3d::cHapticPoint::getNumInteractionEvents ( )

inline

cInteractionEvent* chai3d::cHapticPoint::getInteractionEvent ( const int a_index )

inline

cVector3d chai3d::cHapticPoint::computeInteractionForces	(	cVector3d &	a_globalPos,
		cMatrix3d &	a_globalRot,
		cVector3d &	a_globalLinVel,
		cVector3d &	a_globalAngVel
	)

This method computes all interaction forces between the tool haptic points and the virtual environment.

Parameters

a_globalPos	New desired goal position.
a_globalRot	New desired goal rotation.
a_globalLinVel	Linear velocity of tool.
a_globalAngVel	Angular velocity of tool.

Returns: Computed interaction force in world coordinates.

cVector3d chai3d::cHapticPoint::getLastComputedForce ( )

inline

bool chai3d::cHapticPoint::isInContact ( cGenericObject * a_object )

This method checks if the tool is touching a particular object passed as argument.

Parameters

a_object Object to checked for possible contact.

Returns: true if the object is in contact with tool, false otherwise.

void chai3d::cHapticPoint::render ( cRenderOptions & a_options )

This method renders the tool graphically using OpenGL.

Parameters

a_options Rendering options.

void chai3d::cHapticPoint::updateSpherePositions ( )

protected

This method updates the position of the spheres in tool coordinates. The position of the actual proxy and goal spheres need to be expressed in the tool's local coordinate system. This comes from the fact that the contact points are rendered at the same time as the tool, respectively when the OpenGL model view matrix corresponds to the one of the parent tool.

Member Data Documentation

cAlgorithmFingerProxy* chai3d::cHapticPoint::m_algorithmFingerProxy

cAlgorithmPotentialField* chai3d::cHapticPoint::m_algorithmPotentialField

cShapeSphere* chai3d::cHapticPoint::m_sphereProxy

cShapeSphere* chai3d::cHapticPoint::m_sphereGoal

cColorf chai3d::cHapticPoint::m_colorLine

cGenericTool* chai3d::cHapticPoint::m_parentTool

protected

cVector3d chai3d::cHapticPoint::m_lastComputedGlobalForce

protected

double chai3d::cHapticPoint::m_radiusDisplay

protected

double chai3d::cHapticPoint::m_radiusContact

protected

cGenericObject* chai3d::cHapticPoint::m_meshProxyContacts[3]

protected

cAudioSource* chai3d::cHapticPoint::m_audioSourceImpact[3]

protected

cAudioSource* chai3d::cHapticPoint::m_audioSourceFriction[3]

protected

bool chai3d::cHapticPoint::m_useAudioSources

protected

cGenericObject* chai3d::cHapticPoint::m_audioProxyContacts[3]

protected

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation