Public Member Functions
	HVirtualCoupling (float size)

float	getSize ()

void	setSize (float size)

void	setPosition (float x, float y)

void	init (FWorld world, float x, float y)

void	setToolPosition (float x, float y)

void	setToolVelocity (float x, float y)

void	setAvatarPosition (float x, float y)

void	setAvatarVelocity (float vx, float vy)

float	getToolPositionX ()

float	getToolPositionY ()

float	getToolVelocityX ()

float	getToolVelocityY ()

float	getAvatarPositionX ()

float	getAvatarPositionY ()

float	getAvatarVelocityX ()

float	getAvatarVelocityY ()

void	updateCouplingForce ()

void	updateCouplingForce (float mass, float stiffness, float damping)

void	updateCouplingForce (float free_mass, float stiffness, float damping, float contact_mass)

float	getVirtualCouplingForceX ()

float	getVirtualCouplingForceY ()

void	setVirtualCouplingStiffness (float stiffness)

void	setVirtualCouplingDamping (float damping)

float	getVirtualCouplingStiffness ()

float	getVirtualCouplingDamping ()

Protected Attributes
float	m_size = 0.5f

HTool	h_tool

FCircle	h_avatar

Vec2	vc_force = new Vec2(0.0f, 0.0f)

Vec2	tool_position = new Vec2(0.0f, 0.0f)

Vec2	tool_velocity = new Vec2(0.0f, 0.0f)

Vec2	avatar_position = new Vec2(0.0f, 0.0f)

Vec2	avatar_velocity = new Vec2(0.0f, 0.0f)

ArrayList< FContact >	avatarContact

float	vc_stiffness = 250000.0f

float	vc_damping = 700.0f

float	vc_free_mass = 0.25f

float	vc_contact_mass = 1.0f

Detailed Description

Represents a virtual coupling contact rendering scheme that can be added to the virtual world. The HVirtualCoupling class has a virtual avatar compenent that interacts with objects in the virtual world. The avatar is coupled to a haptic tool object (HTool) using a virtual spring and dashpot (PD controller). The resultant force is due to the differences in state between the haptic tool, which represents the device end-effector), and the virtual tool avatar.

HVirtualCoupling myHapticTool = new HVirtualCoupling(0.75);
world.add(myHapticTool);

Bodies

See also: FBox; FBlob; FPoly; FLine; HTool

Constructor & Destructor Documentation

◆ HVirtualCoupling()

HVirtualCoupling.HVirtualCoupling ( float size )

Constructs circular bodies that can be added to a world. The bodies are the haptic tool and the virtual environment tool avatar.

Parameters

size	the size of the circle

Member Function Documentation

◆ getAvatarPositionX()

float HVirtualCoupling.getAvatarPositionX ( )

Returns the x position of the virtual environment avatar in centimeters

getAvatarPositionY

◆ getAvatarPositionY()

float HVirtualCoupling.getAvatarPositionY ( )

Returns the y position of the virtual environment avatar in centimeters

getAvatarPositionX

◆ getAvatarVelocityX()

float HVirtualCoupling.getAvatarVelocityX ( )

Returns the x velocity of the virtual environment avatar in centimeters

getAvatarVelocityY

◆ getAvatarVelocityY()

float HVirtualCoupling.getAvatarVelocityY ( )

Returns the y velocity of the virtual environment avatar in centimeters

getAvatarVelocityX

◆ getSize()

float HVirtualCoupling.getSize ( )

Returns the size of the haptic tool and avatar.

Bodies

Returns: the size of the circle

◆ getToolPositionX()

float HVirtualCoupling.getToolPositionX ( )

Returns the x position of the haptic tool in centimeters

getToolPositionY

◆ getToolPositionY()

float HVirtualCoupling.getToolPositionY ( )

Returns the y position of the haptic tool in centimeters

getToolPositionX

◆ getToolVelocityX()

float HVirtualCoupling.getToolVelocityX ( )

Returns the x velocity of the haptic tool in centimeters

getToolVelocityY

◆ getToolVelocityY()

float HVirtualCoupling.getToolVelocityY ( )

Returns the y velocity of the haptic tool in centimeters

getToolVelocityX

◆ getVirtualCouplingDamping()

float HVirtualCoupling.getVirtualCouplingDamping ( )

Returns the virtual coupling damping.

Returns: the virtual coupling damping coefficient of the body in dyne seconds per meter (CGS units)

See also: setVirtualCouplingDamping(float); getVirtualCouplingStiffness()

◆ getVirtualCouplingForceX()

float HVirtualCoupling.getVirtualCouplingForceX ( )

Get the x coordinate of the force applied via the virtual coupling between the haptic tool and haptic avatar.

See also: getVirtualCouplingForceY()

Returns: the x coordinate of the force

◆ getVirtualCouplingForceY()

float HVirtualCoupling.getVirtualCouplingForceY ( )

Get the y coordinate of the force applied via the virtual coupling between the haptic tool and haptic avatar.

See also: getVirtualCouplingForceX()

Returns: the y coordinate of the force

◆ getVirtualCouplingStiffness()

float HVirtualCoupling.getVirtualCouplingStiffness ( )

Returns the virtual coupling stiffness.

Returns: the virtual coupling stiffness coefficient of the body in dyne per meter (CGS units)

See also: setVirtualCouplingStiffness(float); getVirtualCouplingDamping()

◆ init()

void HVirtualCoupling.init	(	FWorld	world,
		float	x,
		float	y
	)

Initializes the haptic tool and virtual avatar in the physics engine.

Bodies

Parameters

size	the size of the circle
x	the x position in the simulated world coordinates of centimeters.
y	the y position in the simulated world coordinates of centimeters.

◆ setAvatarPosition()

void HVirtualCoupling.setAvatarPosition	(	float	x,
		float	y
	)

Sets the position of the virtual environment avatar representation.

setAvatarVelocity

Parameters

x	the x position in the simulated world coordinates of centimeters.
y	the y position in the simulated world coordinates of centimeters.

◆ setAvatarVelocity()

void HVirtualCoupling.setAvatarVelocity	(	float	vx,
		float	vy
	)

Sets the velocity of the virtual environement tool avatar.

SetAvatarPosition

Parameters

x	the x velocity in the simulated world coordinates of centimeters.
y	the y velocity in the simulated world coordinates of centimeters.

◆ setPosition()

void HVirtualCoupling.setPosition	(	float	x,
		float	y
	)

Sets the position of the virtual tool. Under the hood the body is removed and readded to the world.

Bodies

Parameters

size	the size of the circle

◆ setSize()

void HVirtualCoupling.setSize ( float size )

Sets the size of the circular tool. Under the hood the body is removed and readded to the world.

Bodies

Parameters

size	the size of the circlar tool

◆ setToolPosition()

void HVirtualCoupling.setToolPosition	(	float	x,
		float	y
	)

Sets the position of the graphical representation of the haptic tool.

setToolVelocity

Parameters

x	the x position in the simulated world coordinates of centimeters.
y	the y position in the simulated world coordinates of centimeters.

◆ setToolVelocity()

void HVirtualCoupling.setToolVelocity	(	float	x,
		float	y
	)

Sets the velocity of the virtual tool graphical representation. Note* the velocity data from the device is noisy so in practice we set the tool velocity to zero and calculate the environmental forces based on the avatar only.

setToolPosition

Parameters

x	the x velocity in the simulated world coordinates of centimeters.
y	the y velocity in the simulated world coordinates of centimeters.

◆ setVirtualCouplingDamping()

void HVirtualCoupling.setVirtualCouplingDamping ( float damping )

Sets the damping of the virtual coupling for the virtual coupled contact rendering technique.

See also: setVirtualCouplingStiffness; getVirtualCouplingDamping

Parameters

damping The damping of the virtual coupling. Resultant forces are proportional to difference in state between the haptic tool and haptic avatar.

◆ setVirtualCouplingStiffness()

void HVirtualCoupling.setVirtualCouplingStiffness ( float stiffness )

Sets the stiffness of the virtual coupling for the virtual coupled contact rendering technique.

See also: getVirtualCouplingStiffness; setVirtualCouplingDamping

Parameters

stiffness The stiffness of the virtual coupling. Resultant forces are proportional to difference in state between the haptic tool and haptic avatar.

◆ updateCouplingForce() [1/2]

void HVirtualCoupling.updateCouplingForce ( )

Sets the Virtual Coupling parameters of the virtual tool to their default values.

updateCouplingForce

◆ updateCouplingForce() [2/2]

void HVirtualCoupling.updateCouplingForce	(	float	free_mass,
		float	stiffness,
		float	damping,
		float	contact_mass
	)

Sets the Virtual Coupling parameters of the virtual tool. Under the hood the body is removed and readded to the world.

Parameters

free_mass	sets the mass of the virtual avatar when in free space
free_stiffness	sets the virtual coupling spring stiffness when in free space
free_damping	sets the virtual coupling dashpot damping when in free space
contact_mass	sets the mass of the virtual avatar when in contact with a virtual object

updateCouplingForce

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

C:/Users/crgallac/Documents/hAPI_Fisica_src/hAPI_Fisica_v0_1/source/hAPI_Fisica_v0_1/HVirtualCoupling.java

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ HVirtualCoupling()

Member Function Documentation

◆ getAvatarPositionX()

◆ getAvatarPositionY()

◆ getAvatarVelocityX()

◆ getAvatarVelocityY()

◆ getSize()

◆ getToolPositionX()

◆ getToolPositionY()

◆ getToolVelocityX()

◆ getToolVelocityY()

◆ getVirtualCouplingDamping()

◆ getVirtualCouplingForceX()

◆ getVirtualCouplingForceY()

◆ getVirtualCouplingStiffness()

◆ init()

◆ setAvatarPosition()

◆ setAvatarVelocity()

◆ setPosition()

◆ setSize()

◆ setToolPosition()

◆ setToolVelocity()

◆ setVirtualCouplingDamping()

◆ setVirtualCouplingStiffness()

◆ updateCouplingForce() [1/2]

◆ updateCouplingForce() [2/2]