[simspark-devel] New touch sensor

[Hedayat V. <hed...@ai...>]

Hi,

I finished writing the base structure of a new touch perceptor and I'm 
going to commit my code to CVS (is it wrong to to this at this stage?!). 
As a beginner, I've tried to make the minimum possible changes in the 
existing sources. I've added two new classes to the collisionperceptor 
library: TouchPerceptorHandler & ExtendedTouchPerceptor(Sorry if the 
names are too bad! I can't find good choices for now, any suggestions 
are highly appreciated!!).


TouchPerceptorHandler is an extension to ContactJointHandler. It should 
be used instead of the ContactJointHandler and no extra handler 
(PerceptorHandler) is needed.(In fact I think it should be merged with 
the ContactJointHandler class)


Currently, the ExtendedTouchPerceptor provides each contact point 
(global coordinates of the collision) and the forceapplied to the body. 
Each object can have up to three contact points with each object (when 
two surfaces are completely in touch). We have accessto the force and 
torque which is applied to the body at each contact point.


Providing all of the contact point (which should be in local 
coordinates) will increase flexibility, but it'll make the output much 
longer. Instead of this, we could provide a kind of average force 
applied to the whole part.


Now, what is the desired output? Please answer!


Thanks,
Hedayat