Force Rendering and HLAPI News

Professor Horsch and I sent an email to the support department at SensAble to check if the HLAPI (Haptic Library API) could be modified to move the tool center point. I was informed by Prof. Horsch that currently the HLAPI cannot be modified. The next release of the development kit is set for July/August and this feature may be included.

The project will use the HDAPI (Haptic Device API) and all forces will be rendered manually. There will be different forces.

• A lock position -- This could be used to 'hang' the tool. Force would be applied to prevent the tool from moving. This point would be away from the material
• Constant friction -- this might assist the overall experience. **will explain if included**
• Voxel Contact -- The force cannot be too great, but the user must feel contact with the voxel shell. The voxel shell is deformable. Force Rendered in opposite direction of mill direction
• STL Voxel Shell -- **If included** Provide stronger feedback, yet not highest level
• STL object -- Highest resisting force

The initial point of contact with the voxel shell can be tracked. While still in contact with voxels, the force is rendered in the vector from current position to initial point of contact.

Assumption

Voxel object has collapsing outer shell. In the end all voxels in the voxel object should lie inside of the STL Object.

STL Voxels **if included** are not drawn

New Issue

Collision Detection for STL object - Cylinder to set of static triangle planes