Haptic simulation is vibrating or unstable
19 Nov 2015 22:10 #1
My haptic device goes unstable as I interact with objects in the scene.
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19 Nov 2015 22:18 #2
Make sure to compile your application in Release mode and not Debug mode. Debug mode can easily run 10-20 times slower due to the compiling optimizations being disabled and the overhead from the debugger. This problem is very common if you are using Visual Studio under Windows.
Make sure to monitor the update rate of your haptic simulation. This value is displayed at the bottom of each example. As a rule of thumb, please expect you simulation to run at 1000 Hz or higher to achieve a stable simulation.
If you are rendering complex mesh object composed of many triangles, make sure to always enable the axis aligned collision detector. If your model contains too many triangles, try simplifying the model by using a tool such as Meshlab
Try reducing the material stiffness of your objects. Vibration may typically occur if you are using a low cost haptic device with limited force and sensing capabilities.
If you are applying a scale factor between the workspace of your haptic device and the simulation workspace, make sure to reduce the stiffness parameters accordingly.
Remove all printf commands that you may have inserted in your main haptics loop code. These commands are computationally expensive and can impact the performance of your simulation.
Make sure not to perform any graphic related tasks in the haptics thread as these could potentially affect the performance of the haptics loop.
Here is a short checklist for the most common problems:
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