I followed the instruction given in example: 18-endoscope

I created tool (cursor)and connected the haptic device to the tool etc...
And i assigned an object (scope) to the tool .. etc.
Every thing is solid in my case.


I want my scope attached to the cursor to be solid. And i should be able to get feed back, if any part of my tool touches my virtual object. As of now , I am getting feed back only if the tool cursor (sphere, in this case) is touching the object. Scope is passing through the virtual object as if its present.

So, What should be done, in order to make the scope solid and able to feel the feedback if scope touches my virtual object ?

In order to do so, you need to use multi-point contact rendering.
Please the ODE module for such examples, in particular the tooth demonstration.

Hi,

I am sorry,I have gone through the example - 23 tooth. But couldn't able to figure out the answer.

In my current simulation i have a hollow red ball (opened at the top), which can rotate about the origin(0.0,0.0,0.0)

The small sphere present in front of the tool is able to interact with the ball. My rest of tool (Scope in this case) is passing through the ball as if its not present at all. I am unable to observe any interaction between the scope and the ball.


How can i create interaction between my whole tool (Scope+sphere) and the ball. My aim is to rotate the ball (some thing like inserting a needle into the ball and rotating it).

The ODE example demonstrates how multi-point contact rendering can be done where all parts of the tool interact with the teeth. In your example you would replace the drill with the tool and the teeth by your spherical object.

The basic CHAI3D tools only model single point contact haptics.

Make also sure that you run your application in RELEASE mode and not in DEBUG mode. It seems that the performances in your screenshots are running below 1000 Hz.

Hi, hopefully I'm not to late for a reply. I checked the example 23-tooth, and only the haptic point interacts with the tooth, the rest of the tool doesn't. Could you help clarify? Thanks