haptic_rendering_funx.cpp

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#include <phua_haptic/haptic_rendering_funx.h>

hduVector3Dd CalculateWorkspaceDemoForce(void *pUserData)
{
  shared_vars_t*RobotVars=(shared_vars_t*)pUserData;
  //vectors
  hduVector3Dd forceDirection;
  //force vector initialization
  hduVector3Dd sent_force(0.0,0.0,0.0);
  //joystick position;
  static hduVector3Dd phantom_position;
  
  
  // ***** Calculations *****
  if( (RobotVars->parameters.kinematic_model>=1 && RobotVars->parameters.kinematic_model<=3) && RobotVars->parameters.manual_speed_control)
  {
    // *** ARMS ***    
    //inside sphere properties
    double min_sphereRadius = ((double)sqrt(13327.) / (double)RobotVars->parameters.pos_coord_scale); // mm 
    RobotVars->haptics_data.arm_main_sphere_min_Radius = min_sphereRadius;
    //outside sphere properties
    double max_sphereRadius = (RobotVars->humanoid_f->GetRobotDimension(ARM_LENGTH)+RobotVars->humanoid_f->GetRobotDimension(FOREARM_LENGTH))
                              /
                              ((double)RobotVars->parameters.pos_coord_scale); // mm
    RobotVars->haptics_data.arm_main_sphere_max_Radius = max_sphereRadius;
    //back sphere properties
    double back_sphereRadius = RobotVars->humanoid_f->GetRobotDimension(FOREARM_LENGTH) / ((double)RobotVars->parameters.pos_coord_scale); // mm
    RobotVars->haptics_data.arm_back_sphereRadius = back_sphereRadius;
    
    
    // center of the main sphere
    hduVector3Dd main_spheresPosition = RobotVars->haptics_data.arm_main_spheresPosition;
    // center of the back sphere
    hduVector3Dd back_spheresPosition = RobotVars->haptics_data.arm_back_spherePosition;
    
    //phantom position
    phantom_position = RobotVars->phantom_data.m_devicePosition;
    
    //force direction is constant in Y axle / joystick X axle
    if(RobotVars->parameters.kinematic_model==1)
    {
      forceDirection = TransformWorldCoordinatesToPHaNToMCoordinates(hduVector3Dd(0.,-1.,0.));
      // YY PLANE FORCE
      sent_force = sent_force + (CalculatePolyForceMagnitude(-(phantom_position[1] - main_spheresPosition[1])/ (double)RobotVars->parameters.pos_coord_scale) * forceDirection);
    }
    else
    {
      forceDirection = TransformWorldCoordinatesToPHaNToMCoordinates(hduVector3Dd(0.,1.,0.));
      // YY PLANE FORCE
      sent_force = sent_force + (CalculatePolyForceMagnitude((phantom_position[1] - main_spheresPosition[1])/ (double)RobotVars->parameters.pos_coord_scale) * forceDirection);
    }
    
    // MAIN SPHERES:
    double radius = (phantom_position - main_spheresPosition).magnitude();
    // SMALL CENTER SPHERE
    forceDirection = TransformWorldCoordinatesToPHaNToMCoordinates(((phantom_position - main_spheresPosition)/radius));
    sent_force = sent_force + ((CalculatePolyForceMagnitude(radius - min_sphereRadius)) * forceDirection);
    // BIG CENTER SPHERE
    forceDirection = TransformWorldCoordinatesToPHaNToMCoordinates((-1. * (phantom_position - main_spheresPosition)/radius));
    sent_force = sent_force + ((CalculatePolyForceMagnitude(max_sphereRadius - radius)) * forceDirection);
    // BACK SPHERE
    radius = (phantom_position - back_spheresPosition).magnitude();
    forceDirection = TransformWorldCoordinatesToPHaNToMCoordinates(((phantom_position - back_spheresPosition)/radius));
    sent_force = sent_force + ((CalculatePolyForceMagnitude(radius - back_sphereRadius)) * forceDirection);
  }
  else if((RobotVars->parameters.kinematic_model>=4 && RobotVars->parameters.kinematic_model<=5) && RobotVars->parameters.manual_speed_control)
  {
    //LEGS
    //outside sphere properties
    double max_sphereRadius = ((RobotVars->humanoid_f->GetRobotDimension(THIGH_LENGTH)
                                +
                                RobotVars->humanoid_f->GetRobotDimension(LEG_LENGTH)) / (double)RobotVars->parameters.pos_coord_scale); // mm
    RobotVars->haptics_data.leg_main_sphere_max_Radius = max_sphereRadius;
    //smaller sphere properties
    double min_sphereRadius = ((double)119.233 / (double)RobotVars->parameters.pos_coord_scale); // mm
    RobotVars->haptics_data.leg_main_sphere_min_Radius = min_sphereRadius;
    //front small sphere properties
    double min_front_sphereRadius = (RobotVars->humanoid_f->GetRobotDimension(LEG_LENGTH) / (double)RobotVars->parameters.pos_coord_scale); // mm
    RobotVars->haptics_data.leg_back_sphereRadius = min_front_sphereRadius;
    //back outer sphere properties
    double max_back_sphereRadius = (RobotVars->humanoid_f->GetRobotDimension(LEG_LENGTH) / (double)RobotVars->parameters.pos_coord_scale); // mm
    if(max_back_sphereRadius){}
    
    phantom_position = RobotVars->phantom_data.m_devicePosition;
    
    // centers of the spheres
    hduVector3Dd main_spheresPosition = RobotVars->haptics_data.leg_main_spheresPosition;
    hduVector3Dd back_spheresPosition = RobotVars->haptics_data.leg_back_spherePosition;
    hduVector3Dd front_spheresPosition = RobotVars->haptics_data.leg_front_spherePosition;
    
    // OUTER SPHERE:
    double radius = (phantom_position - main_spheresPosition).magnitude();
    forceDirection = TransformWorldCoordinatesToPHaNToMCoordinates((-1. * (phantom_position - main_spheresPosition)/radius));
    sent_force = sent_force + ((CalculatePolyForceMagnitude(max_sphereRadius - radius)) * forceDirection);
    // INNER SPHERE
    forceDirection = TransformWorldCoordinatesToPHaNToMCoordinates(((phantom_position - main_spheresPosition)/radius));
    sent_force = sent_force + ((CalculatePolyForceMagnitude(radius - min_sphereRadius)) * forceDirection);
    //PLANES
    //vector u
    hduVector3Dd u = hduVector3Dd(1.0,0.0,0.0);
    //vector v30
    hduVector3Dd v30 = hduVector3Dd(0.0,-sin(DegToRad(30.0)),cos(DegToRad(30.0)));
    //vector v45
    hduVector3Dd v45 = hduVector3Dd(0.0,sin(DegToRad(45.0)),cos(DegToRad(45.0)));    

//     if(RobotVars->parameters.kinematic_model==4)
//     {
//       //LEFT LEG
//       
//       
//     }
//     else
//     {
//       //RIGHT LEG
//       // vector normal to plane on the left
//       hduVector3Dd n_left = crossProduct(u,v30);
//       // equation of a plane s = a*x + b*y + c*z + d
//       double d = dotProduct( -main_spheresPosition + hduVector3Dd(0.0,-sin(DegToRad(30.0)),cos(DegToRad(30.0))), n_left );
//       n_left = -n_left;
//       //distance to the plane s
//       double s = (n_left[0] * phantom_position[0] + n_left[1] * phantom_position[1] + n_left[2] * phantom_position[2] + d) / sqrt(pow(n_left[0],2.) + pow(n_left[1],2.) + pow(n_left[2],2.));
//       s = s / (double)RobotVars->parameters.pos_coord_scale;
//       std::cout<<"DISTANCE TO PLANE"<<s<<std::endl;
//       n_left.normalize();
//       forceDirection = n_left;
//       sent_force = sent_force + ((CalculatePolyForceMagnitude(s)) * forceDirection);
      
//       // vector normal to plane on the right
//       hduVector3Dd n_right = crossProduct(u,v45);
//       // equation of a plane s = a*x + b*y + c*z + d
//       d = dotProduct( -hduVector3Dd(0.0,sin(DegToRad(45.0)),cos(DegToRad(45.0))), n_right );
//       //distance to the plane s
//       s = (n_right[0] * phantom_position[0] + n_right[1] * phantom_position[1] + n_right[2] * phantom_position[2] + d) / sqrt(pow(n_right[0],2.) + pow(n_right[1],2.) + pow(n_right[2],2.));
//       s = s / (double)RobotVars->parameters.pos_coord_scale;
//       n_right.normalize();
//       forceDirection = n_right;
//       sent_force = sent_force + ((CalculatePolyForceMagnitude(s)) * forceDirection);
//     }
//     // FRONT SPHERE
//     radius = (phantom_position - front_spheresPosition).magnitude();
//     forceDirection = TransformWorldCoordinatesToPHaNToMCoordinates(((phantom_position - front_spheresPosition)/radius));
//     sent_force = sent_force + ((CalculatePolyForceMagnitude(radius - min_front_sphereRadius)) * forceDirection);
  }
  else
  {
    //OTHERS
  }
  
  return (sent_force);
}

hduVector3Dd CalculatePlaneDrawingDemoForce(void *pUserData)
{
  shared_vars_t*RobotVars=(shared_vars_t*)pUserData;
  
  hduVector3Dd joystick_position = RobotVars->phantom_data.m_devicePosition;
  
  HDdouble s = RobotVars->haptics_data.demo_2_Plane.perpDistance(joystick_position);
  
  RobotVars->haptics_data.demo2_distance_to_plane  = fabs((double)s / (double)RobotVars->parameters.pos_coord_scale);
  hduVector3Dd n = RobotVars->haptics_data.demo_2_Plane.normal();
  n.normalize();
  
  // force calculation
  return TransformWorldCoordinatesToPHaNToMCoordinates(CalculatePlaneForceMagnitude(RobotVars->haptics_data.demo2_distance_to_plane) * -n);
}

void Demo2_BuildPlane(void *pUserData)
{
  shared_vars_t*RobotVars=(shared_vars_t*)pUserData;
  // use plane class from openhaptics
  RobotVars->haptics_data.demo_2_Plane = hduPlaned(RobotVars->haptics_data.demo_2_point_1,
                                                   RobotVars->haptics_data.demo_2_point_2,
                                                   RobotVars->haptics_data.demo_2_point_3);  
}

hduVector3Dd Leg_COP_Monitoring(void *pUserData)
{
  shared_vars_t*RobotVars=(shared_vars_t*)pUserData;
  hduVector3Dd Fx,Fy;
  double x,y;
  static double x_border_p, x_border_m, y_border_p, y_border_m;
  
  if(RobotVars->parameters.kinematic_model==4)
  {
    x = RobotVars->robot_kin_data.COG_detached_leg_left[0];
    y = RobotVars->robot_kin_data.COG_detached_leg_left[1];    
  }
  else if(RobotVars->parameters.kinematic_model==5)
  {
    x = RobotVars->robot_kin_data.COG_detached_leg_right[0];
    y = RobotVars->robot_kin_data.COG_detached_leg_right[1];
  }
  else
    return hduVector3Dd(0.0,0.0,0.0);
  
  std::cout<<"X: "<<x<<std::endl;
  std::cout<<"Y: "<<y<<std::endl;
  
  if( fabs(y) >= 10.0)
  {
    Fy = hduVector3Dd(0.0,-CalculateExponentialForceMagnitude(0.0),0.0);
  }
  if( fabs(x) >= 35.0)
  {
    Fx = hduVector3Dd(CalculateExponentialForceMagnitude(1),0.0,0.0);
  }
  
//   x_border_p = RobotVars->haptics_data.leg_main_spheresPosition[0] + (80.0)/2.0;
//   x_border_m = RobotVars->haptics_data.leg_main_spheresPosition[0] - (80.0)/2.0;
//   y_border_p = RobotVars->haptics_data.leg_main_spheresPosition[1] + (RobotVars->humanoid_f->GetRobotDimension(FOOT_WIDTH))/2.0;
//   y_border_m = RobotVars->haptics_data.leg_main_spheresPosition[1] - (RobotVars->humanoid_f->GetRobotDimension(FOOT_WIDTH))/2.0;
//   
//   double s;
//   //check x
//   s = x_border_p - x;
//   Fx = hduVector3Dd(-1*get_sign(x)*CalculateExponentialForceMagnitude(s),0.0,0.0);
//   s = x-x_border_m;
//   Fx += hduVector3Dd(get_sign(x)*CalculateExponentialForceMagnitude(s),0.0,0.0);
// 
//   //check y
//   s = y_border_p - y;
//   Fy = hduVector3Dd(0.0,-1*get_sign(y)*CalculateExponentialForceMagnitude(s),0.0);
//   s = y-y_border_m;
//   Fy += hduVector3Dd(0.0,get_sign(y)*CalculateExponentialForceMagnitude(s),0.0);
//   
//   std::cout<<Fx+Fy<<std::endl;
  
  return Fx+Fy;
}