Haptics renderer using a variant of the Ruspini algorithm allowing you to specify a radius on the proxy. More...
#include <H3D/HapticsRenderers.h>
Inheritance diagram for H3D::RuspiniRenderer:
Classes | |
| class | ProxyRadius |
| ProxyRadius specializes SFFloat to set the proxy radius in the HAPI::RuspiniRenderer used. More... | |
Public Member Functions | |
| RuspiniRenderer (Inst< ProxyRadius > _proxyRadius=0, Inst< AlwaysFollowSurface > _alwaysFollowSurface=0) | |
| Constructor. | |
 Public Member Functions inherited from H3D::H3DHapticsRendererNode | |
| H3DHapticsRendererNode () | |
| Constructor. | |
| virtual HAPI::HAPIHapticsRenderer * | getHapticsRenderer (unsigned int layer) |
| Get the haptics renderer to use for a certain layer. | |
| virtual void | hapticsRendererRemoved (unsigned int layer) |
| This function should only be called if the HAPI::HAPIHapticsRenderer obtained for the given layer is removed from the HAPIDevice ( and therefore destroyed ). More... | |
| virtual string | defaultXMLContainerField () |
| Returns the default containerField value for this node. More... | |
| Public Member Functions inherited from H3D::Node | |
| Node () | |
| Constructor. | |
| virtual Node * | clone (bool deepCopy=true, DeepCopyMap *deepCopyMap=NULL) |
| Returns a new instance of this node type with the same state as this one. More... | |
| virtual | ~Node () |
| Destructor. | |
| X3DPrototypeInstance * | getProtoInstanceParent () |
| If this node is the root node in the proto body of a X3DPrototypeInstance then this will return that node. More... | |
| void | setProtoInstanceParent (X3DPrototypeInstance *p) |
| Set the X3DPrototypeInstance this node is the the root node if applicaple. | |
| virtual void | render () |
| the render() function is used for the depth-first rendering traversal of the scene-graph. More... | |
| virtual void | traverseSG (TraverseInfo &ti) |
| traverseSG is called once per scenegraph loop on the scene in order to traverse the scenegraph. More... | |
| virtual bool | lineIntersect (const Vec3f &from, const Vec3f &to, LineIntersectResult &result) |
| Detect intersection between a line segment and the Node. More... | |
| virtual void | closestPoint (const Vec3f &p, NodeIntersectResult &result) |
| Find closest point on Node to p. More... | |
| virtual bool | movingSphereIntersect (H3DFloat radius, const Vec3f &from, const Vec3f &to, NodeIntersectResult &result) |
| Detect collision between a moving sphere and the Node. More... | |
| virtual Field * | getField (const string &_name) const |
| return a pointer to the field specified by name within this instance | |
| int | addDestructCallback (void(*func)(Node *, void *), void *args) |
| Add a callback function to be run on destruction of node. More... | |
| int | removeDestructCallback (void(*func)(Node *, void *), void *args) |
| Add a callback function to be run on destruction of node. More... | |
Public Attributes | |
| H3DUniquePtr< SFFloat > | proxyRadius |
| The radius of the proxy in metres. More... | |
| H3DUniquePtr< SFBool > | alwaysFollowSurface |
| Always move the proxy when the object that it is in contact with moves. More... | |
Static Public Attributes | |
| static H3DNodeDatabase | database |
| The H3DNodeDatabase for this node. | |
Protected Member Functions | |
| virtual HAPI::HAPIHapticsRenderer * | getNewHapticsRenderer () |
| Returns a new instance of HAPI::RuspiniRenderer. | |
| Protected Member Functions inherited from H3D::Node | |
| void | cloneFieldValue (Field &_from, Field &_to, bool deepCopy, DeepCopyMap &deepCopyMap) |
| A helper function for the clone() method. More... | |
Additional Inherited Members | |
| Public Types inherited from H3D::Node | |
| typedef std::map< Node *, Node * > | DeepCopyMap |
| A map type used during a deep copy clone() to map from original nodes to cloned nodes. | |
| Static Public Member Functions inherited from H3D::Node | |
| static unsigned int | nrNodesAlive () |
| Returns the nr of nodes currently alive, i.e. nodes created but not destructed. | |
| static int | nrNodesCreated () |
| Returns the number of nodes created in total since the start of the program. | |
| Static Protected Member Functions inherited from H3D::Node | |
| static Node * | getClonedInstance (Node *original, bool deepCopy, DeepCopyMap &deepCopyMap) |
| A helper function for nodes that implement clone() More... | |
Detailed Description
Haptics renderer using a variant of the Ruspini algorithm allowing you to specify a radius on the proxy.
Uses the HAPI::RuspiniRenderer class.
For example usage use H3DViewer to change between haptics renderers. The menu choice is "Rendering"->"Choose Haptics Renderer".
Member Data Documentation
◆ alwaysFollowSurface
| H3DUniquePtr< SFBool > H3D::RuspiniRenderer::alwaysFollowSurface |
Always move the proxy when the object that it is in contact with moves.
Usually the proxy is only moved with the object if the object is moving towards the proxy.
Enabling this option stops the proxy from slipping on the surface when the surface is moving tangentially. This helps when you want to drag an object using the surface friction between the surface and the proxy.
However, enabling this option has the side-effect that the proxy may fall through a surface where objects intersect.
- Note
- If enabled, dynamic objects should be consistently dynamic or static. E.g., If the object's transform is updated by a slower thread than the graphics thread, then the object may flicker between static and dynamic states preventing correct behaviour. This can happen using the RigidBodyPhysics component. In such cases set the HapticsOptions dynamicMode field to "ALWAYS" to work around this.
Access type: inputOutput
Default value: false
Referenced by RuspiniRenderer().
◆ proxyRadius
| H3DUniquePtr< SFFloat > H3D::RuspiniRenderer::proxyRadius |
The radius of the proxy in metres.
Access type: inputOutput
Default value: 0.0025
Referenced by RuspiniRenderer().
The documentation for this class was generated from the following files:
