# More refining.

Working on constraint code. Got the framework done, but didn’t have enough sleep to be able to do the math involved. So instead I…

Got the actuators mounted on the Phantom! Aside from having one of the force sensors break during mounting, it went pretty smoothly. I may have to adjust the sensitivity of teh sensors so that you don’t have to press so hard on them. At the current setting the voice coils aren’t behaving at higher grip forces. But the ergonomics feel pretty good, so that’s nice.

# What you get when you combine FLTK, OpenGL, DirectX, OpenHaptics and shared memory

Wow, the title sounds like a laundry list đź™‚

Building a two-fingered gripper

Going to add sound class to SimpleSphere so that we know what sounds are coming from what collision. Didn’t do that’ but I’m associating the sounds by index, which is good enough for now

Need to calculate individual forces for each sphere in the Phantom and return them. Done.

To keep the oscillations at a minimum, I’m passing the offsets from the origin. That way the loop uses the device position as the basis for calculations within the haptic loop.
Here’s the result of today’s work:

# Flailing, but productive flailing.

Basically spent the whole day figuring out how the 4Ă—4 phantom matrix equates to the rendering matrix (I would have said OpenGL, but thatâ€™s not true anymore. I am using the lovely math libraries from theÂ OpenGL SuperBible 5th Edition, which makes it kinda look like the OGL of Yore.

Initially I thought Iâ€™d just use the vector components of the rotation 3Ă—3 from the Phantom to get the orientation of the tip, but for some reason, parts of the matrix appear inverted. So instead of using them directly, I multiply the modelviewmatrix by the phantom matrix, Amazingly, this works perfectly.

To make sure that this works, I rendered a sphere at the +X, +Y and +Z axis in the local coordinate frame. Everything tracks. So now I can create my gripper class and get the positions of the end effectors from the class. And since the position is in the global coordinate frame, it kind of comes along for free.

Hereâ€™s a picture of everything working:

Tomorrow, Iâ€™ll build the gripper class and start feeding that to the Phantom. The issue will be to sum the force vectors from all the end effectors in a reasonable way.

# Some Assembly Required

Integrating all the pieces into one test platform. The test could be to move a collection of physically-based spheres (easy collision detect) from one area to another. Time would be recorded from the indication of a start and stop (spacebar, something in the sim, etc). Variations would be:

• Open loop: Measure position and pressure, but no feedback
• Force Feedback (Phantom) only
• Vibrotactile feedback only
• Both feedbacks

Probably only use two actuators for the simplicity of the test rig. It would bean that I could use the laptopâ€™s headphone output. Need to test this by wiring up the actuators to a micro stereo plug. Radio Shack tonight.

Got two-way communication running between Phantom and sim.

Have force magnitude adjusting a volume.

Added a SimpleSphere class for most of the testing.

# WTF?!

Had an idea to fix a messy bug.
Searched for “MSVC shared memory”
Got a useful hit in the MSDN database.
Implemented in a test loop. Worked the first time
Implemented in the project code. Worked the first time.

I think the world is about to end.

# Shared Memories

Today’s job is to integrate the Phantom code into the simulation.

• Code is in and compiling, but there are mysterious errors:
• I think I need a more robust startup. Looking at more examples….
• Hmm. After looking at other examples, the HD_TIMER_ERROR Â problem appears to crop up for anything more than trivially complex. Since both programs seem to run just fine by themselves, I’m going to make two separate executables that communicate usingÂ Named Shared Memory. Uglier than I wanted, but not terrible.
• Created a new project, KF_Phantom to hold the Phantom code
• Stripped out all the Phantom (OpenHaptics) references from the KF_Virtual_Hand_3 project;
• Added shared memory to KF_Phantom and tested it by creating a publisher and subscriber class within the program. It all works inside the program. Next will be to add the class to the KF_VirtualHand project (same code, I’m guessing? Not sure if MSVC is smart enough to share). Then we can see if it works there. If it does, then it’ll be time to start getting the full interaction running. And since the data transfer is essentially memcpy, I can pass communication objects around.

# Dancing Phantoms

Spent most of the day trying to figure out how to deal with geometry that has to be available to both the haptic and graphics subsystems. The haptics subsystem has to runÂ fastÂ â€“ about 1000hz and gets its own callback-based loop from theÂ HD haptic libraries. The graphics run as fast as they can, but they get bogged down.

So the idea for the day was to structure the code so that a stable geometry patch can be downloaded from the main system to the haptics subsystem. Iâ€™m thinking that they could be really simple, maybe just a plane and a concave/convex surface. I started by creating a BaseGeometryPatch class that takes care of all the basic setup and implements a sphere patch model. Other inheriting classes simple override the patchCalc() method and everything should work just fine.

I also built aÂ reallyÂ simple test main loop that runs at various rates using Sleep(). The sphere is nice and stable regardless of the main loop update rate, though the transitions as the position is updated can be a little sudden. It may make sense to add some interpolation rather than just jumping to the next position. But it works. The next thing will be to make the sphere work as a convex shape by providing either a flag or using a negative length. Once thatâ€™s done (with a possible detour into interpolation), Iâ€™ll try adding it to the graphics code. In the meanwhile, hereâ€™s a video of a dancing Phantom for your viewing pleasure: