SpringEffect is a localized haptic effect where the haptics device is pulled towards to a point in space in a spring like manner, i.e. More...

#include <H3D/SpringEffect.h>

Inheritance diagram for H3D::SpringEffect:

Public Member Functions
	SpringEffect (Inst< SFVec3f > _position=0, Inst< MFVec3f > _force=0, Inst< SFFloat > _springConstant=0, Inst< SFFloat > _startDistance=0, Inst< SFFloat > _escapeDistance=0, Inst< SFBool > _active=0, Inst< MFInt32 > _deviceIndex=0, Inst< SFNode > _metadata=0, Inst< SFFloat > _damping=0, Inst< SFFloat > _positionInterpolation=0, Inst< SFVec3f > _interpolatedPosition=0)
	Constructor.

virtual void	traverseSG (TraverseInfo &ti)
	Adds the effect if within startDistance and removes it when going outside escapeDistance. More...

Public Member Functions inherited from H3D::H3DForceEffect
	H3DForceEffect (Inst< SFNode > _metadata=0, Inst< MFInt32 > _deviceIndex=0)
	Constructor.

Public Member Functions inherited from H3D::X3DChildNode
	X3DChildNode (Inst< SFNode > _metadata=0)
	Constructor.

Public Member Functions inherited from H3D::X3DNode
	X3DNode (Inst< SFNode > _metadata=0)
	Constructor.

X3DMetadataObject *	getMetadataByName (const string &_name)
	Given a name, the first X3DMetadataObject in the metadata field that matches that name is returned. 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 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 string	defaultXMLContainerField ()
	Returns the default xml containerField attribute value. 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< SFVec3f >	position
	The position of the spring. More...

H3DUniquePtr< MFVec3f >	force
	The force applied by the spring to the haptics device since the last scenegraph update. More...

H3DUniquePtr< SFFloat >	springConstant
	The spring constant of the spring. More...

H3DUniquePtr< SFFloat >	startDistance
	When the haptics device comes within this distance the spring effect is activated. More...

H3DUniquePtr< SFFloat >	escapeDistance
	If the effect is active, the effect will be deactivated if the haptics device moves outside this distance. More...

H3DUniquePtr< SFBool >	active
	Active is true when the spring effect is active. More...

H3DUniquePtr< SFFloat >	damping
	The damping constant to use in the force calculation. More...

H3DUniquePtr< SFFloat >	positionInterpolation
	The positionInterpolation is used to force the haptics loop to not move all the way from the last position to the new position if the position field, or any of the transform nodes this SpringEffect resides in, changes frequently. More...

H3DUniquePtr< SFVec3f >	interpolatedPosition
	The interpolated position of the spring. More...

AutoRefVector< HAPI::HapticSpring >	haptic_spring
	Internal haptic spring instance.

Public Attributes inherited from H3D::H3DForceEffect
H3DUniquePtr< MFInt32 >	deviceIndex
	A list of indices that tells which haptics devices to render the force on. More...

Public Attributes inherited from H3D::X3DNode
H3DUniquePtr< SFNode >	metadata
	Meta data about the node. More...

Static Public Attributes
static H3DNodeDatabase	database
	The H3DNodeDatabase for this node.

Static Public Attributes inherited from H3D::H3DForceEffect
static H3DNodeDatabase	database
	The H3DNodeDatabase for this node.

Static Public Attributes inherited from H3D::X3DNode
static H3DNodeDatabase	database
	The H3DNodeDatabase for this node.

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.

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...

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

SpringEffect is a localized haptic effect where the haptics device is pulled towards to a point in space in a spring like manner, i.e.

the force is proportional to the the distance of the haptics device from the spring position. The effect will not start until the haptics device is within startDistance from the spring position. The effect will stop when the haptics device is further away than escapeDistance from the spring position. deviceIndex decides on which haptics device this effect should be on. The force generated will be force = (position - device_position) * springConstant - damping * device_velocity

Examples:

SpringEffect.x3d ( Source )

Member Function Documentation

◆ traverseSG()

void SpringEffect::traverseSG ( TraverseInfo & ti )

virtual

Adds the effect if within startDistance and removes it when going outside escapeDistance.

Parameters

ti	The TraverseInfo object containing information about the traversal.

Reimplemented from H3D::Node.

References active, H3D::TraverseInfo::addForceEffect(), damping, H3D::H3DForceEffect::deviceIndex, escapeDistance, force, H3D::TraverseInfo::getAccForwardMatrix(), H3D::TraverseInfo::getAccInverseMatrix(), H3D::TraverseInfo::getHapticsDevices(), H3D::X3D::Convert::getValue(), haptic_spring, H3D::TraverseInfo::hapticsEnabled(), interpolatedPosition, length(), position, positionInterpolation, H3DUtil::AutoRefVector< class >::resize(), H3DUtil::AutoRefVector< class >::set(), H3DUtil::AutoRefVector< class >::size(), springConstant, and H3D::H3DHapticsDevice::trackerPosition.

Member Data Documentation

◆ active

H3DUniquePtr< SFBool > H3D::SpringEffect::active

Active is true when the spring effect is active.

Access type: outputOnly
Default value: FALSE

Referenced by SpringEffect(), and traverseSG().

◆ damping

H3DUniquePtr< SFFloat > H3D::SpringEffect::damping

The damping constant to use in the force calculation.

force = (position - device_position) * springConstant - damping * device_velocity

Access type: inputOutput
Default value: 0

Referenced by SpringEffect(), and traverseSG().

◆ escapeDistance

H3DUniquePtr< SFFloat > H3D::SpringEffect::escapeDistance

If the effect is active, the effect will be deactivated if the haptics device moves outside this distance.

Access type: inputOutput
Default value: 0.01

Referenced by SpringEffect(), and traverseSG().

◆ force

H3DUniquePtr< MFVec3f > H3D::SpringEffect::force

The force applied by the spring to the haptics device since the last scenegraph update.

Access type: outputOnly
Default value: Vec3f( 0, 0, 0 )

Referenced by traverseSG().

◆ interpolatedPosition

H3DUniquePtr< SFVec3f > H3D::SpringEffect::interpolatedPosition

The interpolated position of the spring.

See positionInterpolation.

Access type: outputOnly

Referenced by traverseSG().

◆ position

H3DUniquePtr< SFVec3f > H3D::SpringEffect::position

The position of the spring.

Access type: inputOutput
Default value: Vec3f( 0, 0, 0 )

Referenced by SpringEffect(), and traverseSG().

◆ positionInterpolation

H3DUniquePtr< SFFloat > H3D::SpringEffect::positionInterpolation

The positionInterpolation is used to force the haptics loop to not move all the way from the last position to the new position if the position field, or any of the transform nodes this SpringEffect resides in, changes frequently.

This can be used to not get big changes in force magnitude between graphics frames. Default value of 1 means that no position smoothing is introduced.

Access type: inputOutput
Default value: 1
Allowed values: [0,1]

Referenced by SpringEffect(), and traverseSG().

◆ springConstant

H3DUniquePtr< SFFloat > H3D::SpringEffect::springConstant

The spring constant of the spring.

force = (position - device_position) * springConstant - damping * device_velocity

Access type: inputOutput
Default value: 100

Referenced by SpringEffect(), and traverseSG().

◆ startDistance

H3DUniquePtr< SFFloat > H3D::SpringEffect::startDistance

When the haptics device comes within this distance the spring effect is activated.

Access type: inputOutput
Default value: 0.01

Referenced by SpringEffect().

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Static Public Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ traverseSG()

Member Data Documentation

◆ active

◆ damping

◆ escapeDistance

◆ force

◆ interpolatedPosition

◆ position

◆ positionInterpolation

◆ springConstant

◆ startDistance