WorldViz User Forum  

Go Back   WorldViz User Forum > Vizard

Reply
 
Thread Tools Rate Thread Display Modes
  #1  
Old 11-10-2013, 03:56 PM
EnvisMJ EnvisMJ is offline
Member
 
Join Date: May 2009
Location: Purdue University, West Lafayette, Indiana
Posts: 44
Introducing a rotation offset into a link

I am working in a immersive VR simulator, and I am picking up and moving objects around.

Grabbing an object is pretty easy:
Code:
grabLink = viz.link(hand,object,1)
This allows it to follow translation and orientation exactly

I can also modify the link to act in a couple different ways by modifying the link like so:

Creating a 'locked rotations' link (the grabbed object follows the translations of the hand, but it's orientation is locked at [0,0,0] exactly)
Code:
grabLink.setEuler([0,0,0])	#set the yaw, pitch and roll to zero
Create a 'z-pinned' link (the grabbed object follows rotations exactly, but the block is only able to translate in the z-axis)
Code:
yPos = object.getPosition()[1]	#y position of object
xPos = object.getPosition()[0]	#x position of object
grabLink.clampPosY([yPos,yPos],1,viz.LINK_FULL_OP)	#clamp item's vertical motion
grabLink.clampPosX([xPos,xPos],1,viz.LINK_FULL_OP)	#clamp item's lateral motion
Create a 'movement bounded' link (object can't move past the zBound point on the z-axis)
grabLink.clampPosZ([None,zBound],1,viz.LINK_FULL_OP) #clamp item's forward motion



Ok, so all that is working well and good. But now I need to 'offset' the position of the object vs. the hand with a set of offsets
Code:
rotationOffsets = [x,y,z]
Anyone know how to get this done?
Reply With Quote
  #2  
Old 11-13-2013, 05:51 AM
Frank Verberne Frank Verberne is offline
Member
 
Join Date: Mar 2008
Location: Netherlands
Posts: 148
I think you're looking for something like this:
Code:
positionOffsets = [x,y,z]
rotationOffsets = [yaw,pitch,roll]
grabLink = viz.link(hand,object,1)
grabLink.preTrans(positionOffsets)
grabLink.preEuler(rotationOffsets)
You mentioned in your question that you want to offset the position, but in the piece of code below, there is a variable called rotationOffsets. You can offset the rotation of a link with link.preEuler() and the position of a link with link.preTrans(). Both are described in the code above. Hope that solves your problem!
Reply With Quote
Reply

Tags
grab, hand, link, offset


Posting Rules
You may not post new threads
You may not post replies
You may not post attachments
You may not edit your posts

BB code is On
Smilies are On
[IMG] code is On
HTML code is Off

Forum Jump

Similar Threads
Thread Thread Starter Forum Replies Last Post
Link only one Axis Andy Vizard 7 06-18-2013 02:30 AM
Custom Joystick Rotation mhead10 Vizard 9 11-26-2012 12:06 PM
Unable to perform 360 rotation using vizact.spinto vijaykiran Vizard 2 09-29-2009 08:39 AM
Offset Problem Elittdogg Vizard 1 09-15-2009 06:28 AM
intersense orientation jargon Vizard 2 05-14-2005 04:55 PM


All times are GMT -7. The time now is 09:15 AM.


Powered by vBulletin® Version 3.8.7
Copyright ©2000 - 2024, vBulletin Solutions, Inc.
Copyright 2002-2023 WorldViz LLC