Week update April 15, 2005

Current Issues:

• Mapping the Cursor/haptic device Workspace to Screen coordinates.
• Including tooltip transformation: Current Projects rely on Haptic Library to Render forces. The translation for the tooltip requires the projects moving away from the Haptic Library(HL) API and using the Haptic Device(HD) API. The HL is a high level library that automates most processes, including capturing and rendering forces. The HD requires callbacks to be written to simulate forces and provide collision detection.
• Collision Detection techniques
• Migrate working systems to HD
• Calculate and Generate custom forces

Current State of System: Projects

stlViewer

• The haptic tooltip can be drawn on the screen
• Loads STL object
• Loads a voxel shell, the shell is updated when contact occurs with cursor
• Allows cursor control with keyboard or haptic interface
• With keyboard control, voxel shell can be deformed

Issues:

• Relies on HL to capture shapes from OpenGL calls
• Must migrate to HD
• Does not include tooltip transformation
• haptic cursor does not interact with voxel shell correctly

Various Toolkit Examples:

• Slidingcontact has been modified to demonstrate the possibility of adding the translation using HD.
• cubeTest loads a STL file and allows haptic feedback. The forces are rendered by the openGL viewing matrix. If the viewing matrix shows the virtual model at an angle, then the forces will correspond to the viewing shape not the actual shape. This project uses HL and has a mapping of the workspace to visual display.

Questions:

• How to map workspace
• Collision Detection -- Voxel based, Cylinder to Plane
• How to resolve system lag, mainly openGL optimizations can Oct trees be used
• Should STL object be voxelized for 3 layer collision detection
• Would there be a benefit from using VTK