Week Update June 10, 2005
Coordinates
The prototype project is able to read in coordinates of stock material and both create a new coordinate system and the transformation matrix (voxel coordinate system). It still has a problem that the voxel object is not displayed correctly after multiplying the voxel coordinate system. The voxel object seems rotated across the z-axis.
Collision detection with the voxel object requires moving the tooltip to the voxel coordinate system. This should be the multiplication of the two matrices. This will be tested next week.
Octrees
I spent an afternoon modifying the code of the octree to see if I could reduce the memory requirement when running 7 levels. The octree causes two main problems; large memory requirement and the processor runs at 100% when drawing the voxel shell.
I reduced the size of each node from 104 bytes to 80 bytes. This was accomplished by changing the type of the vectors from doubles to floats. The affect was minimal and it is unlikely to increase the performance beyond the current state. A reduction of 40 bytes would be required to provide a noticeable difference.
General Plans/Clarification
Force Rendering
Only collisions with the STL/TRI object render force feedback. The haptic device buzzes when rendering feedback. The method for rendering forces will have to be refined to reduce this. It is possible that the Omni haptic is not capable of rendering these forces to the tooltip. The extra translations might be causing the buzzing.
New Terminology
The prototype project is able to read in coordinates of stock material and both create a new coordinate system and the transformation matrix (voxel coordinate system). It still has a problem that the voxel object is not displayed correctly after multiplying the voxel coordinate system. The voxel object seems rotated across the z-axis.
Collision detection with the voxel object requires moving the tooltip to the voxel coordinate system. This should be the multiplication of the two matrices. This will be tested next week.
Octrees
I spent an afternoon modifying the code of the octree to see if I could reduce the memory requirement when running 7 levels. The octree causes two main problems; large memory requirement and the processor runs at 100% when drawing the voxel shell.
I reduced the size of each node from 104 bytes to 80 bytes. This was accomplished by changing the type of the vectors from doubles to floats. The affect was minimal and it is unlikely to increase the performance beyond the current state. A reduction of 40 bytes would be required to provide a noticeable difference.
General Plans/Clarification
- The STL/TRI file will be loaded. The system will get the bounding box of the object.
- Next the coordinates from the stock material will be read in. The system will create the voxel object with these coordinates. Then, the STL/TRI object will be situated into the voxel object.
Force Rendering
Only collisions with the STL/TRI object render force feedback. The haptic device buzzes when rendering feedback. The method for rendering forces will have to be refined to reduce this. It is possible that the Omni haptic is not capable of rendering these forces to the tooltip. The extra translations might be causing the buzzing.
New Terminology
- voxel coordinate system
posted by Tosowski at 6/10/2005 12:32:00 PM
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