VHTK::VolumeStiffnessProperty Class Reference
[Expert Nodes]
Inheritance diagram for VHTK::VolumeStiffnessProperty:
Detailed Description
This node can be used to make the stiffness in the haptic system dependent on some scalar data field.It could be tempting to use this node to simulate a compliency property of tissues, for example, but care should be taken since this will affect the control system of the haptic interaction. It is easy to introduce unstable behaviour when using a dynamic stiffness parameter.
Important points:
- varying the stiffness over space may introduce instabilies
- the stiffness is evaluated prior to solving the haptic equations
- there is one common stiffness parameter for all involved haptic modes, so this node is not involved in dynamics calculations
X3D Interface | ||||
| Name | Type | Default value | Description | |
 | scalarVolume | SFScalarDataNode | null | The scalar data that controls the stiffness property. |
| transferFunction | SFTransferFunction | null | The stiffness as a function of the value of the scalar volume. |
Public Member Functions | |
| HAPI::HAPIFloat | getStiffness (HAPI::Vec3 x) |
| Get the stiffness value at the specified position. | |
| virtual void | traverseSG (H3D::TraverseInfo &ti) |
Static Public Member Functions | |
| static VolumeStiffnessProperty * | getActive () |
| Get the top of the bindable stack for this node. | |
Public Attributes | |
| auto_ptr < H3D::ThreadSafeRefSField < SFScalarDataNode > > | scalarVolume |
| The scalar data that controls the stiffness property. | |
| auto_ptr < H3D::ThreadSafeRefSField < SFTransferFunction > > | transferFunction |
| The transfer function that defines the stiffness from the value of the scalar volume. | |
Static Public Attributes | |
| static H3D::H3DNodeDatabase | database |
Protected Attributes | |
| H3DUtil::Matrix4f | T |
Member Function Documentation
| static VolumeStiffnessProperty* VHTK::VolumeStiffnessProperty::getActive | ( | ) | [inline, static] |
Get the top of the bindable stack for this node.
| HAPI::HAPIFloat VHTK::VolumeStiffnessProperty::getStiffness | ( | HAPI::Vec3 | x | ) |
Get the stiffness value at the specified position.
Member Data Documentation
The scalar data that controls the stiffness property.
| auto_ptr< H3D::ThreadSafeRefSField<SFTransferFunction> > VHTK::VolumeStiffnessProperty::transferFunction |
The transfer function that defines the stiffness from the value of the scalar volume.
