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normal collision between haptic points

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11 Jan 2017 23:23 #1

Hi,

I have two devices working together and each one has a haptic point. However, they are not aware of each other, which means there is no force feedback when these two points are touching each other. Anyone know how can we provide force feedback between two haptic points?

Thanks,
Ting

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12 Jan 2017 13:51 #2

Thank you for the comment. We will make sure to include this feature in the next update (3.2.1) which is due shortly.

For now you could easily add this feature yourself by reading the position the haptic point of each tool (proxy position) and compute a reaction force based on the penetration of both spheres (haptic points). This reaction force can then easily be added after the haptic forces have been computed. The code would be similar to this:

// update position and orientation of tools
tool1->updateFromDevice();
tool2->updateFromDevice();

// compute interaction force between tools and world
tool1->computeInteractionForces();
tool2->computeInteractionForces();

// compute interaction force between both tools
cVector3d force = ...

// add reaction force to both tools
tool1->addDeviceGlobalForce(force);
tool2->addDeviceGlobalForce(-force);

// send forces to haptic devices
tool1->applyToDevice(); 
tool2->applyToDevice();

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17 Jan 2017 18:44 #3

Thanks for your help! I will try to compute the forces. But would you mind let me know when will the new version be released approximately?

Thanks again!

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