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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) |
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