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May I ask how can I get the real-time spring force I applied?
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After you've defined and enabled the spring effect you could create your own function that returns the spring effect force based on F = k(P - X). Something like the following:
Code:
import vizmat
def getSpringForce():
#get effect position and gain.
P = springEffect.getPosition()
k = springEffect.getGain()
#get haptic device position
X = device.getPosition()
#return force
return k * vizmat.Distance(P,X)
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Position here represents the effect position, right?
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Yes, the position value you pass in when you define the spring effect is the effect position.
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And what is the relationship between magnitude and spring force? In F = k(P-X), magnitude is the max spring force?
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The magnitude of the effect force is capped at the magnitude value you define.