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Geometry and Haptics Part 2

Craig McDonald requested to merge feature/geometry2 into devel

Description

This merge request focuses on the HapticBox, which is our first 3D solid object. In order to have sharp corners how we are used to feeling them, its implementation is a little unusual. It uses the RectangularPrism geometry for it's general shape, size, and location, but that's it. The depth calculations and collision detection are handled by six haptic walls, and we very explicitly only render one wall at a time.

Testing and visualization of the geometry algorithms were done in matlab, but unit tests have not yet been implemented.

What to focus on

  • RectangularPrism, the first 3D geometry object
  • HapticBox, which uses RectangularPrism and HapticWall
  • Testing the HapticBox in HapticGeometryTest with the Cube example
Edited by Craig McDonald

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