Академический Документы
Профессиональный Документы
Культура Документы
Submitted by:-
Mukul Goyal (14117041)
Prabhanshu Rawat (14117046)
Sidharth Goel (14117071)
Motivation Behind
● Device Space
● QHRender
● Shape Class
● Cursor Class
Device Space
● It defines the force properties and user interaction in haptic workspace for
a particular Touch device. It manages -
○ Force Effects
○ User CallBacks
QH Render
● These are “windowing” classes created specifically for use with openGL
Utility Toolkit (GLUT).
● It renders shapes from camera viewpoint and lets the user feel those
shapes with a haptic device.
● OpenHaptics uses OpenGL to define geometry and to implement its haptic
rendering algorithms.
Shape Class
● The Shape class defines the base class for all of the geometry primitives
that can be included in the world space:
● Properties can be applied to any of these primitive.
● The default values for shape properties were selected to provide a realistic
and comfortable visualization of the property to human eyes.
Cursor Class
F = mẍ + bẋ + kx
where, F = applied force,
m = mass of the stomach,
x = linear displacement of the COM
ẋ = Velocity of the COM
ẍ = Acceleration of the COM
Video
Results (Force)
Results (Deformation)
Conclusion