WorldViz User Forum - Working in Haptic device (PHANTOM)

Hello

I am working with "sensable PHANTON Omni" & "Worldviz 5".

I have created boundary for the car which will not allow the car to go beyond that walls (cube1 & cube2).

I want to implement fillowing effects in the code
1) When car touch/strike with boundary, I want to generate opposite force in haptic device that give the feel of the wall.
2) I want to add spring effect from the point [0,0,0] in all direction

Kindly give your suggestions to implement bounding ares for car.

The code is:

Code:

import viz

import vizact

import vizshape



viz.setMultiSample(4)

viz.fov(60)

viz.go()



viz.phys.enable()

viz.collision(viz.ON)



car = viz.add( 'mini.osg' )

car.collideBox()



ViewCarLink = viz.link(car,viz.MainView)

ViewCarLink.preEuler( [0,30,0] )

ViewCarLink.preTrans( [0,0,-10] )

ViewCarLink.preEuler( [0,-20,0] )



ground = viz.addChild('ground.osgb')

ground.collidePlane()



sensable = viz.add('sensable.dle')

device = sensable.addHapticDevice()

device.workspace.setScale([20,20,20])

device.addNode(ground)



#right boundary for car

cube1 = vizshape.addCube(size=1)

cube1.setPosition([2,0.5,8])

cube1.setScale(20,1,0.2)

cube1.setEuler(90,0,0)

RightB=cube1.collideBox([20,1,0.2])

RightB.density=10000



#left boundary for car

cube2 = vizshape.addCube(size=1)

cube2.setPosition([-2,0.5,8])

cube2.setScale(20,1,0.2)

cube2.setEuler(90,0,0)

LeftB=cube2.collideBox([20,1,0.2])

LeftB.density=10000



def UpdateMovement():

    elapsed = viz.elapsed()

    x,y,z = device.getPosition()

    forwardMovementAmount = viz.elapsed() * (z+0.5)

    car.setPosition( [ 0, 0, forwardMovementAmount], viz.REL_LOCAL )

    rotationAmount = viz.elapsed() *(x)*10

    car.setEuler( [ rotationAmount, 0 , 0 ],viz.REL_LOCAL)

    #add spring effect

    device.addSpringEffect( gain=10,magnitude=10,position=[0,0,0])



vizact.ontimer(0, UpdateMovement)