//===========================================================================
void cSpotLight::updateShadowMap()
{
// sanity check
if ((!m_enabled) || (m_shadowMap == NULL)) { return; }
// update shadow map
cVector3d tmp0 = getGlobalPos();
cVector3d tmp1 = cAdd(getGlobalPos(), getGlobalRot().getCol0());
cVector3d tmp2 = getGlobalRot().getCol2();
m_shadowMap->updateMap(m_worldParent,
tmp0,
tmp1,
tmp2,
m_cutOffAngleDEG,
m_shadowNearClippingPlane,
m_shadowFarClippingPlane);
}
//==============================================================================
void cToolGripper::computeInteractionForces()
{
// convert the angle of the gripper into a position in device coordinates.
// this value is device dependent.
double gripperPositionFinger = 0.0;
double gripperPositionThumb = 0.0;
if (m_hapticDevice->m_specifications.m_model == C_HAPTIC_DEVICE_OMEGA_7)
{
gripperPositionFinger = 0.040 * cSinRad( m_deviceGripperAngle + cDegToRad( 1.0));
gripperPositionThumb = 0.040 * cSinRad(-m_deviceGripperAngle + cDegToRad(-1.0));
}
else if (m_hapticDevice->m_specifications.m_model == C_HAPTIC_DEVICE_SIGMA_7)
{
gripperPositionFinger = 0.040 * cSinRad( m_deviceGripperAngle + cDegToRad( 1.0));
gripperPositionThumb = 0.040 * cSinRad(-m_deviceGripperAngle + cDegToRad(-1.0));
}
else
{
gripperPositionFinger = 0.040 * cSinRad( m_deviceGripperAngle + cDegToRad( 1.0));
gripperPositionThumb = 0.040 * cSinRad(-m_deviceGripperAngle + cDegToRad(-1.0));
}
// compute new position of thumb and finger
cVector3d lineFingerThumb = getGlobalRot().getCol1();
cVector3d pFinger = m_gripperWorkspaceScale * m_workspaceScaleFactor * gripperPositionFinger * lineFingerThumb;
cVector3d pThumb = m_gripperWorkspaceScale * m_workspaceScaleFactor * gripperPositionThumb * lineFingerThumb;
cVector3d posFinger, posThumb;
if (m_hapticDevice->m_specifications.m_rightHand)
{
posFinger = m_deviceGlobalPos + cMul(m_deviceGlobalRot, (1.0 * pFinger));
posThumb = m_deviceGlobalPos + cMul(m_deviceGlobalRot, (1.0 * pThumb));
}
else
{
posFinger = m_deviceGlobalPos + cMul(m_deviceGlobalRot, (-1.0 * pFinger));
posThumb = m_deviceGlobalPos + cMul(m_deviceGlobalRot, (-1.0 * pThumb));
}
// compute forces
cVector3d forceThumb = m_hapticPointThumb->computeInteractionForces(posThumb,
m_deviceGlobalRot,
m_deviceGlobalLinVel,
m_deviceGlobalAngVel);
cVector3d forceFinger = m_hapticPointFinger->computeInteractionForces(posFinger,
m_deviceGlobalRot,
m_deviceGlobalLinVel,
m_deviceGlobalAngVel);
// compute torques
double scl = 0.0;
double factor = m_gripperWorkspaceScale * m_workspaceScaleFactor;
if (factor > 0.0)
{
scl = 1.0 / factor;
}
cVector3d torque = scl * cAdd(cCross(cSub(posThumb, m_deviceGlobalPos), forceThumb), cCross(cSub(posFinger, m_deviceGlobalPos), forceFinger));
// compute gripper force
double gripperForce = 0.0;
if ((m_hapticDevice->m_specifications.m_model == C_HAPTIC_DEVICE_OMEGA_7) ||
(m_hapticDevice->m_specifications.m_model == C_HAPTIC_DEVICE_SIGMA_7))
{
cVector3d dir = posFinger - posThumb;
if (dir.length() > 0.00001)
{
dir.normalize ();
cVector3d force = cProject (forceFinger, dir);
gripperForce = force.length();
if (force.length() > 0.001)
{
double angle = cAngle(dir, force);
if ((angle > C_PI/2.0) || (angle < -C_PI/2.0)) gripperForce = -gripperForce;
}
}
}
// gripper damping
double gripperAngularVelocity = 0.0;
m_hapticDevice->getGripperAngularVelocity(gripperAngularVelocity);
double gripperDamping = -0.1 * m_hapticDevice->m_specifications.m_maxGripperAngularDamping * gripperAngularVelocity;
// finalize forces, torques and gripper force
m_lastComputedGlobalForce = forceThumb + forceFinger;
m_lastComputedGlobalTorque = torque;
m_lastComputedGripperForce = gripperForce + gripperDamping;
}
