No force feedback using haptic device #2918
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Hey @hugtalbot, I recently saw @younesssss write a reply, "Even though it corrects the problem, I don't think you will have feedback forces on the Haptic device. Do you?" #2615 (reply in thread). I don't know if he was suggesting that the LCPConstraintSolver is necessary for having some force feedback (I'm using the GenericConstraintSolver, also I'm using the HAPI plugin, not Geomagic) Currently, I can't access the haptic device, so I can't check if that suggestion works, but it would be helpful to know how I could solve this to change my code to fit the solution. Do you have any ideas on this @hugtalbot? |
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Replies: 1 comment 2 replies
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Hi @cranium-47 ConstraintSolver in SOFA solves the constraint problem in the physics simulation, i.e. computes the forces in the case of contacts satisfying the non-interpenetration (unilateral) constraint. I insist : in the physics simulation. To be sent to an haptic device, these contact forces need to be transmitted. To do so, you can see in the examples of the Geomagic plugin that we usually use a LCPForceFeedback. I guess it is what you need. |
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Okay @hugtalbot, thanks for the suggestion |
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you're welcome @cranium-47 |
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Hi @cranium-47
ConstraintSolver in SOFA solves the constraint problem in the physics simulation, i.e. computes the forces in the case of contacts satisfying the non-interpenetration (unilateral) constraint. I insist : in the physics simulation. To be sent to an haptic device, these contact forces need to be transmitted. To do so, you can see in the examples of the Geomagic plugin that we usually use a LCPForceFeedback.
Ex: Geomagic-RigidSkull.scn
I guess it is what you need.
Best wishes,