Hi to all,

I am working on a Object Drilling note which is using H3D and VHTK. When looking at the ClipPlanes example, we can only feel the force when we move the haptic device from 0 (voxel value) area to 255 (voxel value) area. Further more, If we creat a solid white cube in the space, we can only feel the force on the edge of the cube when we are trying to move into it. It is foce free when we do some movement inside the cube even though it is solid. Is there any way could enble us feel the force when we move inside some solid object, assuming the force direction is againest the movement.

The drilling node I am working now is to enable us feel the force when we drill into some solid object. I was trying to calculate the drilling force using the velocity of the haptic movement. But feels like kind of dragging rather than a hard drilling force. Is there a method to calculate the velocity quickly? (I am using the new_position of the device minus the old_position ). Any one has any suggestions about this?
Thanks a lot.


Jason

I would suggest that you use one of the many methods presented in the literature for drill feedback simulation. The haptic methods in VHTK are, in contrast, designed primarily for haptic visualization.

If you want to use the haptic modes in VHTK anyway, I would suggest that you try out the viscosity mode. That mode calculates the viscosity feedback without using the probe velocity, which can be sensitive to noise and cause instability.

[Edit 2007-05-02: Examples of people doing high quality research in bone drilling are Nigel John, Gianluigi Zanetti, Marco Agus, Andrea Giachetti and Petersik]

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KJ Lundin Palmerius
Norrköping Visualization and Interaction Studio
Linköping University, Sweden

Thanks for your suggestion. It really helps. I am using the viscosity mode now.

Thanks for your answer.
I was trying to rewrite the ScalarViscosityMode in my x3dloader in order to simulate the force. I want to use the device button to decide whether the viscosity is enabled or not. There alwayse is an error named "definition of dllimport static data member not allowed" (..&VHTKTransferFunctionNode::database)even I just copy the ScalarViscosityMode to my x3dloader.cpp. My project has linked to the H3DApi.lib and VHTK.lib, I also copy the H3DApi.dll and H3DApi.dll in my project folder. Do you know how to fix it?
Thanks.

You don't need to change the code to make that happen. Just route the button of your choice to the active field of the mode node. That will make it active only when the button is down. If you want a more complex connection between the button and the activation of the feedback, you can do that with a Python script.

Regarding your error, I'm don't really know since I'm not using Windows myself. It could, however, have something to do with the MS way of handling dll import and export, and therefore the definition of the macro VOLUMEHAPTICS_API.

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KJ Lundin Palmerius<br />Norrköping Visualization and Interaction Studio<br />Linköping University, Sweden

Can you please share the code for drilling using VHTk viscosity node?
I need to implement similar application of drilling a piece of wood.

Thanks,

Hi,
I am also working on drilling hard surface.Where force feedback and real-time hole formation should be shown. Incase you worked on similar thing.Can you please share the code with me?

Thanks,
Aparna

Please start a new thread instead of reviving a several years old thread.

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KJ Lundin Palmerius<br />Norrköping Visualization and Interaction Studio<br />Linköping University, Sweden

Hi,

I am working on simialr drilling excercise. Can you please provide me code examples of how to work on drilling a wood piece? I was looking into VHTK to explore.

Thanks,
Aparna