VHTK::VolumeHaptics Class Reference
[Volume Haptics Nodes]
Detailed Description
The VolumeHaptics node takes care of generating haptic feedback from any number of haptic modes (VHTKHapticModeNode) for volumetric data.It is up to the subclasses of VHTKHapticModeNode to define haptic primitives that represents the wanted behaviour. In every haptic time-frame the VolumeHaptics node queries the modes for the haptic primitives that are then used to generate the feedback.
There is no default VolumeHaptics node, so if no instance is created in a scene, the haptic modes will not generate feedback.
X3D Interface | ||||
| Name | Type | Default value | Description | |
 | stiffness | SFFloat | 800 | This is the stiffness of the proxy probe coupling used to generate the haptic feedback. This parameter will affect the haptic stability as well as the feedback quality. |
 | proxy | SFVec3f | (0,0,0) | The position of the internal proxy. |
| force | SFVec3f | (0,0,0) | The force last generated by volume haptics. |
| activeDynamics | SFBool | false | If true the volume haptics algorithms take into account the changes in transforms and animation when calculating the force feedback. |
| subdivisionTimeBudget | SFFloat | 0 | If this is set to a positive value the volume haptics algorithms use all the specified time budget to provide the best precision possible. |
 | solver | MFSolver | An ordered list of solver to use to calculate the force feedback. Do not touch this field unless you know what you are doing. | |
Public Member Functions | |
| VolumeHaptics () | |
| Initializes local members. | |
| ~VolumeHaptics () | |
| Destructor. | |
| void | initialize () |
| void | traverseSG (H3D::TraverseInfo &ti) |
Static Public Member Functions | |
| static VolumeHaptics * | getActive () |
| Get the top of the bindable stack for this node. | |
Public Attributes | |
| auto_ptr< H3D::SFFloat > | stiffness |
| This is the stiffness of the proxy probe coupling used to generate the haptic feedback. | |
| auto_ptr< H3D::SFVec3f > | proxy |
| The position of the internal proxy. | |
| auto_ptr< H3D::SFVec3f > | force |
| The force last generated by volume haptics. | |
| auto_ptr< H3D::SFBool > | activeDynamics |
| If true the volume haptics algorithms take into account the changes in transforms and animation when calculating the force feedback. | |
| auto_ptr< H3D::SFFloat > | subdivisionTimeBudget |
| If this is set to a positive value the volume haptics algorithms use all the specified time budget to provide the best precision possible. | |
| auto_ptr< MFSolver > | solver |
| An ordered list of solver to use to calculate the force feedback. | |
Static Public Attributes | |
| static H3D::H3DNodeDatabase | database |
Friends | |
| class | VHTKHapticModeNode |
| class | VHTKHapticShaderNode |
| struct | VolumeHapticsEffect |
Constructor & Destructor Documentation
| VHTK::VolumeHaptics::VolumeHaptics | ( | ) |
Initializes local members.
| VHTK::VolumeHaptics::~VolumeHaptics | ( | ) |
Destructor.
Member Function Documentation
| static VolumeHaptics* VHTK::VolumeHaptics::getActive | ( | ) | [inline, static] |
Get the top of the bindable stack for this node.
Member Data Documentation
| auto_ptr< H3D::SFFloat > VHTK::VolumeHaptics::stiffness |
This is the stiffness of the proxy probe coupling used to generate the haptic feedback.
This parameter will affect the haptic stability as well as the feedback quality.
| auto_ptr< H3D::SFVec3f > VHTK::VolumeHaptics::proxy |
The position of the internal proxy.
| auto_ptr< H3D::SFVec3f > VHTK::VolumeHaptics::force |
The force last generated by volume haptics.
| auto_ptr< H3D::SFBool > VHTK::VolumeHaptics::activeDynamics |
If true the volume haptics algorithms take into account the changes in transforms and animation when calculating the force feedback.
This makes the haptic modes actively follow the transformations, but might lead to instability due to the energy added to the control system.
This feature must also be activated in the individual modes that are supposed to use this feature.
If this is set to a positive value the volume haptics algorithms use all the specified time budget to provide the best precision possible.
To allow for a 1 kHz haptic rate this must not be larger than 0.01 but typically 0.009 should be used. With this feature active the precision can be improved typically by a factor of 10-20, depending on the complexity of the feedback and the processor. This feature will be deactivated if animation support is being used.
| auto_ptr< MFSolver > VHTK::VolumeHaptics::solver |
An ordered list of solver to use to calculate the force feedback.
Do not touch this field unless you know what you are doing.
