Hi there,

i would like to know if there is any chance to create an interaction event between a loaded voxel-object (like the 28-voxel-basic example) and an ODE-Object attached to my tool.
In case of drilling in that voxel object with an haptic point the attached ODE Object should not intersect the voxel object and a force should be sensible (see 05-ODE-dental example). I tried to polygonize the voxel-object and create a dynamicMesh, but this doesnt work in realtime.

Also i want to know if i can generate a haptic-point (or better a haptic object) in the shape of e.g. an cylinder. Is that possible with the ODE module?

Can anybody help me with that issues?

The general computation between mesh objects and voxel objects in not yet supported in CHAI3D.

One easy approximation would be to create a tool with multiple haptic points (cHapticPoint). See the tool gripper class (cToolGripper) so see how it is done with two contact points. The haptic points would be positioned at different locations on your tool mesh.

The other option would to extend CHAI3D with one of the more recent algorithms availble. These are developments that will be introduced in future versions of the framework. Here is a reference for your information:

ieeexplore.ieee.org/document/5945467/

Thanks for the quick response!

Hi there,

i have one additional question. If i form my new tool out of multiple haptic points, how can i make this tool rigid? Now every haptic point can interact on themselves with an object.
Imagine i build a line out of multiple haptic points, and one haptic point touches an object, only this haptic point will stay at the interaction point, the other haptic points move on.

How could i fix this?

One approach would be create a mesh that illustrates your tool and to update its position and orientation according to the proxy positions of each haptic point (best fitting algorithm).