Electrical and Computer Engineering Dept.

VR PROGRAMMING
VR Toolkits

System architecture
VR Programming Toolkits
 Are extensible libraries of object-oriented functions
designed to help the VR developer;
 Support various common i/o devices used in VR (so
drivers need not be written by the developer);
 Allow import of CAD models (saves time), editing of
shapes, specifying object hierarchies, collision detection
and multi-level of detail, shading and texturing, run-time
management;
 Have built-in networking functions for multi-user
interactions, etc.
VR Toolkits can be classified by:
 Whether text-based or graphical-programming;
 The type of language used and the library size;
 The type of i/o devices supported;
 The type of rendering supported;
 Whether general-purpose or application specific;
 Whether proprietary (more functionality, better
documented) or public domain (free, but less
documentation and functionality)
VR Toolkits in Early ‘90s
 RenderWare (Cannon), VRT3/Superscape (Dimension
Ltd.), Cyberspace Developer Kit (Autodesk), Cosmo
Authoring Tool (SGI/Platinum/CA), Rend386 and others;
 They allowed either text-based programming
(RenderWare, CDK and Rend386), or graphical
programming (Superscape and Cosmo);
 They were platform-independent and generally did not
require graphics acceleration hardware;
 As a result they tended to use “low-end” i/o devices
(mouse) and to support flat shading to maintain fast
rendering.
Rend386 scene
 VR Toolkits discussed in this chapter
Name Appl Prgm Propri Language
mode etary
Java3D General text no Implemented in C
(Sun Micro) Purpose Programming in Java
Vizard Toolkit General Text/ yes OpenGL-based Python
and PeoplePak Purpose graph scripting language
WorldViz
GHOST (SensAble Haptics for text yes C++
Technologies) Phantom
H3D Haptics/ text no C++
Graphics
PeopleShop Military/ graph yes C/C++
(Boston Dynamics) civilian
Unity 3D Game Text/ yes JavaScript, C#,
engine graph and Python
The scene graph:
 Is a hierarchical organization of objects (visible or not) in the
virtual world (or “universe”) together with the view to that world;
 Scene graphs are represented by a tree structure, with nodes
connected by branches.
 Visible objects are represented by external nodes, which are
called leafs (they have no children). Example nodes F, G, H, I
 Internal nodes represent transformations (which apply to all their
children) Root node

A Internal node

B C
External node
D E J

F G H I
 Scene graphs are not static
Scene

palm Ball

Scene graph shows that

the ball is a child of “scene”
 Scene

palm

Ball

Scene graph has been modified, such that VC 6.1

the ball is now a child of the palm on book
CD
 Scene

palm

Button
Panel

Pinkie Knob 1 Knob 2 Knob 3 Knob 4

Ring
Thumb
Middle

Index
 Scene

palm

Button
Panel

Pinkie Knob 2 Knob 3 Knob 4

Ring
Thumb
Middle

Index
Knob 1
 Model Geometry

Define scene graph

Authoring Define and link

sensors
(Modeling)
Stages Define action
functions

Define networking
 Start Simulation

Read Sensor Data

Repeats every frame

Update Objects
(from sensors and
Run-time loop intelligent actions

Render scene
(graphics, audio,
haptics)

Exit Simulation
 VR Toolkits discussed in this chapter
Name Appl Prgm Propri Language
mode etary
Java3D General text no Implemented in C
(Sun Micro) Purpose Programming in Java
Vizard Toolkit General Text/ yes OpenGL-based Python
and PeoplePak Purpose graph scripting language
WorldViz
GHOST (SensAble Haptics for text yes C++
Technologies) Phantom
H3D Haptics/ text no C++
Graphics
PeopleShop Military/ graph yes C/C++
(Boston Dynamics) civilian
Unity 3D Game Text/ yes JavaScript, C#,
engine graph and Python
Java and Java 3D
 Java
 object oriented programming language
 developed for network applications
 platform independent
 slower than C/C++
 Java 3D
 Java hierarchy of classes that serves as an interface to 3D
graphics rendering and sound rendering systems
 Perfectly integrated with Java
 Strong object oriented architecture
 Powerful 3D graphics API
 Model Geometry

Define scene graph

Java 3D Setup sensors

Initiation
Define behaviors

Networking
 Model Geometry

Define scene graph

Java 3D Setup sensors

Initiation
Define behaviors

Networking
Java 3D geometry:
 Geometry can be imported
from various file formats Imported geometry
(e.g. 3DS, DXF, LWS, NFF, loader.load(“Hand.wrl")

OBJ, VRT, VTK, WRL)

 Can be created as a
primitive geometry (e.g.
sphere, cone, cylinder, …) Geometry primitive:
 Custom geometry created new Sphere(radius)

by specifying the vertices,

edges, normals, texture
coordinates using specially Custom geometry:
defined classes new GeometryArray(…)
new LineArray(…)
new QuadArray(…)
new TriangleArray(…)
Java 3D object
appearance:
 The appearance of a Mat = new Material();
Mat.setDiffuseColor(r, g, b);
geometry is specified using Mat.setAmbientColor(r, g, b);
an appearance object Mat.setSpecularColor(r, g, b);
 An appearance-class object
TexLd = new TextureLoader(“checkered.jpg”,
stores information about the ...);
material (diffuse, specular, Tex = TexLd.getTexture();
shininess, opacity, …) and Appr = new Appearance();
texture Appr.setMaterial(Mat);
Appr.setTexture(Text);

Geom.setAppearance(Appr)
 Model Geometry

Define scene graph

Java 3D Setup sensors

Initiation
Define behaviors

Networking
Java3D node types:
BranchGroup Compilable sub-graph

Group TransformGroup Transform + child nodes

Switch Select which of the children are visible (useful for LOD)

Node Background Universe background. Can be a color or an image

Behavior Actions to be performed by the simulation

Fog Fog node

Leaf
Light Light node. Special derived classes: AmbientLight, PointLight,
DirectionalLight
Shape3D Geometry + Appearance + BoundingBox
Java3D scene graph

Node
Loading objects from files

 Java3D offers by default support for Lightwave and Wavefront

model files
 Loaders for other file formats can be downloaded for free from
the web http://www.j3d.org/utilities/loaders.html
 Loaders add the content of the read file to the scene graph as a
single object. However, they provide functions to access the
subparts individually
Universe
Root

Cube Sphere Hand

Thumb Index Middle Ring Small

Java3D model loading
Adding the model to the scene graph
Scene Sc = loader.load(“Hand.wrl”);
BranchGroup Bg = Sc.getSceneGroup();
RootNode.addChild(Bg);

Accessing subparts of the loaded model

Scene Sc = loader.load(“Hand.wrl”);
BranchGroup Bg = Sc.getSceneGroup();
Thumb = Bg.getChild(0);
Index = Bg.getChild(1);
Middle = Bg.getChild(2);
Ring = Bg.getChild(3);
Small = Bg.getChild(4);
Java3D virtual hand loading:
Palm = loader.load("Palm.wrl").getSceneGroup();
ThumbProximal = loader.load("ThumbProximal.wrl").getSceneGroup();
ThumbDistal = loader.load("ThumbDistal.wrl").getSceneGroup();
IndexProximal = loader.load("IndexProximal.wrl").getSceneGroup();
IndexMiddle = loader.load("IndexMiddle.wrl").getSceneGroup();
IndexDistal = loader.load("IndexDistal.wrl").getSceneGroup();
MiddleProximal = loader.load("MiddleProximal.wrl").getSceneGroup();
MiddleMiddle = loader.load("MiddleMiddle.wrl").getSceneGroup();
MiddleDistal = loader.load("MiddleDistal.wrl").getSceneGroup();
RingProximal = loader.load("RingProximal.wrl").getSceneGroup();
RingMiddle = loader.load("RingMiddle.wrl").getSceneGroup();
RingDistal = loader.load("RingDistal.wrl").getSceneGroup();
SmallProximal = loader.load("SmallProximal.wrl").getSceneGroup();
SmallMiddle = loader.load("SmallMiddle.wrl").getSceneGroup();
SmallDistal = loader.load("SmallDistal.wrl").getSceneGroup();
Java3D virtual hand hierarchy:
Palm.addchild(ThumbProximal );
ThumbProximal .addchild(ThumbDistal );

Palm.addchild(IndexProximal );
IndexProximal .addchild(IndexMiddle );
IndexMiddle .addchild(IndexDistal );

Palm.addchild(MiddleProximal );
MiddleProximal .addchild(MiddleMiddle );
MiddleMiddle .addchild(MiddleDistal );

Palm.addchild(RingProximal );
RingProximal .addchild(RingMiddle );
RingMiddle .addchild(RingDistal );

Palm.addchild(SmallProximal );
SmallProximal .addchild(SmallMiddle );
SmallMiddle .addchild(SmallDistal );
 Model Geometry

Define scene graph

Java3D
Initiation
Setup sensors

Define behaviors

Networking
Input devices in Java3D

 The only input devices supported by Java3D are the mouse and
the keyboard
 The integration of the input devices currently used in VR
applications (position sensors, track balls, joysticks, sensing
gloves…) relies entirely on the developer
 Usually the drivers are written in C/C++. One needs either to re-
write the driver using Java or use JNI (Java Native Interface) to
call the C/C++ version of the driver. The latter solution is more
desirable.
 Java3D provides a nice general purpose input device interface
that can be used to integrate sensors. However, many times
developers prefer custom made approaches
Java3D General purpose sensor interface
class PhysicalEnvironment - stores information about all the input devices
and sensors involved in the simulation
class InputDevice - interface for an input device driver
class Sensor - class for objects that provide real time data

One input device can provide one or more sensors

A sensors object needs not be in relation with an input device (VRML style sensors)

PhysicalEnvironment
InputDevices Sensors
 Model Geometry

Define scene graph

Java3D
Initiation
Setup sensors

Animating the scene

Networking
Java3D - Animating the simulation
 Java3D offers Behavior objects for controlling the simulation
 A Behavior object contains a set of actions performed when the object receives
a stimulus
 A stimulus is sent by a WakeupCondition object
 Some wakeup classes:
WakeupOnCollisionEntry
WakeupOnCollisionExit
WakeupOnCollisionMovement
WakeupOnElapsedFrames
WakeupOnElapsedTime
WakeupOnSensorEntry
WakeupOnSensorExit
WakeupOnViewPlatformEntry
WakeupOnViewPlatformExit
Java3D - Behavior usage
Universe • We define a behavior Bhv that rotates the
Root sphere by 1 degree
• We want this behavior to be called each
frame so that the sphere will be spinning

WakeupOnElapsedFrames Wup = new WakeupOnElapsedFrames(0);

Bhv.wakeupOn(Wup);

VC 6.3 on book CD VC 6.4 on book CD

The Java 3D View object describes the graphics display used in the
simulation, as well as the user’s position versus that display (given
by the tracker);
 The View model provides a separation between the virtual world
provided by the ViewPlatform node and the real I/O devices used in
the interaction; This separation helps portability.

 Several users that are tracked

can be mapped to the same
location in the virtual world. This
corresponds to several Views and
a single ViewPlatform;
 Conversely, a single user can control several ViewPlatforms;
 This corresponds to several Views since each ViewPlatform has its own View;
Thus a single user can have several Views to a virtual world, and can “teleport”
between them. Thus a single user can have several Views to a virtual world, and
can “teleport” between them.

View platform 2
View platform 1
 Model Geometry

Define scene graph

Java3D
Initiation
Setup sensors

Define behaviors

Networking
Java3D - Networking
 Java3D does not provide a built-in solution for networked virtual environments
 However, it’s perfect integration in the Java language allows the developer to
use the powerful network features offered by Java
 Java3D applications can run as stand alone applications or as applets in a web
browser

Server

Java3D Java3D Java3D Java3D

simulation simulation simulation simulation

Java Java Java Java

Applet Application Applet Application
Java3D and VRML
VRML provides possibilities for defining the objects
and animating the objects in a virtual world
 Graphics APIs such as Java3D load from a VRML file
only the static information, ignoring the sensors, routes,
scripts, etc.
 Java3D structure is general enough to make the import
of sensors and routes possible but currently we are not
aware of any loader that does it
 One of the most popular library of Java3D loaders is
the NCSA Portfolio
(http://www.ncsa.uiuc.edu/~srp/Java3D/portfolio/)
NCSA Portfolio
Offers loaders for several model Loades the following parts of
files VRML97 files
 3D Studio (3DS)  Appearance
 TrueSpace COB loader (COB)  Box
 Java 3D Digital Elevation Map (DEM)  Coordinate
 AutoCAD (DXF )  Collision (for grouping only)
 Imagine (IOB)  Group
 Lightwave (LWS)  IndexedFaceSet
Wavefront (OBJ)  IndexedLineSet
 Protein Data Bank (PDB)  Material
 Visualization Toolkit (VTK)  Normal
 VRML97  Shape
 Sphere
 Transform
Java3D on-line resources
 http://java.sun.com/products/java-media/3D/index.html
 http://www.j3d.org
 http://www.ncsa.uiuc.edu/~srp/Java3D/portfolio/
Comparison between Java3D and WTK
 A comparative study was done at Rutgers between Java3d
(Version 1.3beta 1) and WTK (Release 9);
 The simulation ran on a dual Pentium III 933 MHz PC (Dell)
with 512 Mbytes RAM, with an Wildcat 4110 graphics accelerator
which had 64 Mbytes RAM;
 The I/o interfaces were a Polhemus Insidetrack or the Rutgers
Master II force feedback glove;
 The scene consisted of several 420-polygon spheres and a virtual
hand with 2,270 polygons;
 The spheres rotated constantly around an arbitrary axis, while
the hand was either rotating, or driven by the user.
Java3D –WTK Comparison
Graphics scene used in experiments
Comparison between Java3D and WTK

 The simulation variables used to judged performance were:

 graphic mode (monoscopic, stereoscopic),
 rendering mode (wireframe, Gouraud, textured);
 scene complexity (number of polygons 5,000 – 50,000);
 lighting (number of light sources 1, 5, 10);
 interactivity (no interaction, hand input, force feedback)
Java3D –WTK Comparison

Java3d is faster on average than WTK, but has higher variability

Java3D –WTK Comparison

Java3d Release 3.1 Beta 1 has less system latencies than WTK Release 9
But Java3d has more variability in the scene rendering time
WTK does not have spikes in the scene rendering time
 VR Toolkits discussed in this chapter
Name Appl Prgm Propri Language
mode etary
Java3D General text no Implemented in C
(Sun Micro) Purpose Programming in Java
Vizard Toolkit General Text/ yes OpenGL-based Python
and PeoplePak Purpose graph scripting language
WorldViz
GHOST (SensAble Haptics for text yes C++
Technologies) Phantom
H3D Haptics/ text no C++
Graphics
PeopleShop Military/ graph yes C/C++
(Boston Dynamics) civilian
Unity 3D Game Text/ yes JavaScript, C#,
engine graph and Python
Vizard characteristics:
 Uses Python which is a scalable and cross-platform;
 It is object-oriented and simple to integrate with C/C++
 It runs on Unix, Windows, Mac and other platforms;
 Uses a 4-window “workbench” which allows programmers to
write and execute code, inspect 3D models, drag-and-drop objects,
and issue commands while the scene is being rendered.

Resource window –
Text list of word assets
Stack of scripts – errors
are highlighted as you type

3D window –
Explore individual
Interactive window –
objects
input commands
Workbench use:
Icon menu

Scene exploration
with the mouse
Importing objects
Vizard virtual hand:

import viz
import hand
viz.go()
#Identify the 5DT glove's port.
PORT_5DT_USB = 0

#Add the 5DT sensor

sensor = viz.add('5dt.dls')

#Create a hand object from the data glove

glove = hand.add(sensor,hand.GLOVE_5DT)

#Place the hand in front of the user

glove.translate(0,1,5)
glove.rotate(180,-90,180)
# now when you run the script the glove should be moving
Vizard multi-texturing:
import viz
viz.go()

logo = viz.add('logo.wrl') #add vizard logo and place it in front of user

logo.translate(0,2,4)

tex1 = viz.add('gb_noise.jpg') #add two textures that will then be applied to

the logo
#tex2 = viz.add('brick.jpg')
logo.texture(tex1) #applies the first texture
logo.texture(tex2,'',1) #applies the second texture to the logo
blend = viz.add('multitexblend.fp') #indicate how to blend the two textures
logo.apply(blend)
 Vizard Simulation Servers:
 More than one user can inhabit the same environment. Each user
needs to run Vizard. After the world is set up, each user has to set
up two “mail boxes”.
 One receives information from the other user after it was given
network name. Messages come in sequence [0] who sent it, [1]
what is sent, [2] and larger the actual data

Position is the property

information Ball is the object

action
User 1 User 2
 Vizard networking example:
Import viz
Viz.go()
Ball=viz.add(‘ball.wrl’) #create a Ball object that is controlled by the other user
#add the world that will be displayed on your computer
#Use a prompt to ask the other user the network name of his computer.
target_machine = viz.input('Enter the name of the other machine'). upper()

#Add a mailbox from which to send messages to the other user. This is your outbox.
target_mailbox = viz.add(viz.NETWORK, target_machine)
#Add an id for the timer.
BROADCAST = 1

#Add the timer.

def mytimer(num):
if num == BROADCAST:
#Retrieve your current position.
position = viz.get(viz.HEAD_POS)
#Send the data to the target mailbox. All the recipient will get your yaw, x and z
coordinates.
target_mailbox.send(position[0], position[1], position[2])
 Vizard networking example:
#This function will deal with incoming messages.
def mynetwork(message):
#message[0] is who sent the message, message[1] is a description of what he
#sent and message[2] and greater are the messages themselves.
x = message[2]
y = message[3]
z = message[4]
ball.translate(x,y,z)

# Callback the network function to await incoming messages.

viz.callback(viz.NETWORK_EVENT, mynetwork)
# Callback the timer.
viz.callback(viz.TIMER_EVENT, mytimer)
# Start the timer.
viz.starttimer(BROADCAST, 0.01, -1)
 VR Toolkits discussed in this chapter
Name Appl Prgm Propri Language
mode etary
Java3D General text no Implemented in C
(Sun Micro) Purpose Programming in Java
Vizard Toolkit General Text/ yes OpenGL-based Python
and PeoplePak Purpose graph scripting language
WorldViz
GHOST (SensAble Haptics for text yes C++
Technologies) Phantom
H3D Haptics/ text no C++
Graphics
PeopleShop Military/ graph yes C/C++
(Boston Dynamics) civilian
Unity 3D Game Text/ yes JavaScript, C#,
engine graph and Python
GHOST Toolkit for the PHANToM
 Provides realistic haptic interaction
 Provides and intuitive interfaces to haptics
 Provides a haptic scene graph aligned with
3D graphics APIs y

(0,0,0)
 Provides an extensible environment for z
extending haptic interaction technologies x

PHANToM Desktop model

 Point haptic interaction with PHANTOM
 geometry based on user defined force models
 Geometry moves dynamically in response to
forces
 GHOST – Application interaction

Application Process Haptic Process

Haptic
Scene Creation
Rendering

100 Hz y
Collision detection
Scene Rendering z (0,0,0)
Collision response x 1000 Hz
30 fps

Haptic State Haptic

Update Servo loop

Clean-up adapted from Ghost SDK Programmer’s Guide

(version 3.1)
 The GHOST haptics scene graph
Application Process Haptic Process

Haptic
Scene Creation
Rendering

Collision detection y
Scene Rendering z (0,0,0)
Collision response x
30 fps

1000 Hz
Haptic State Haptic
Update Servo loop

Clean-up adapted from Ghost SDK Programmer’s Guide

(version 3.1)
Haptic scene graph
 Provides a structured way to construct a haptic scene,
including geometry and dynamics;
 is traversed only from top to bottom (unlike WTK);
 each node reachable by only one (unique) traversal from the
root (a child node has only one parent node)
 Each node has its own transform (no separate transform
nodes);
 cannot use pointers to repeat instances of the same object,
since similar objects have different haptic interactions;
 Separator nodes to create a hierarchy – Transforms on the
Separator affect its sub-tree;
GHOST node classes
gstNode gstTransform gstBoundedHapticObj gstShape gstPHANToM_SCP
gstBoundary

gstBoundaryCube
gstCone
gstCube
gstForceField gstCylinder
gstSphere
gstTorus
gstConstantForceField gstTriPolyMeshHaptic

gstSeparator gstDynamic gstDial

gstButton
gstPoint gstVector
gstSlider
gstTransformMatrix
gstRigidBody
gstPHANToM
gstSpatialObject gstPlane
gstPHANToMDynamic
gstTriPolyBase
gstPHANToMTranslation
gstTriPoly
gstPHANToMRotation 3D support
Static Nodes
gstSpatialPartition
gstBinTree
gstTriPolyMeshBase
gstEffect gstInertiaEffect gstManipulator gstTranslateManip Dynamic Nodes
gstTriPolyMesh
gstBuzzEffect gstScaleManip
Utility Classes
gstConstraint gstRotateManip
GHOST nine node classes
GHOST nine node classes (continued)
GHOST nine node classes (continued)
Scene graph example

y
Head
x
y z y
y x y
Left Shoulder Right ShoulderRight Elbow
Left Elbow x x
z z z x
z
y
Torso
x
z
y
Body
x
z
Static scene graph – only separators and geometry nodes as leaves
GHOST code example:
#include <stdlib.h>
#include <gstBasic.h>
#include <gstSphere.h>
#include <gstPHANToM.h>
#include <gstSeparator.h>
#include <gstScene.h>

Main()
gstScene *scene = new gstScene;
gstSeparator *root = new gstSeparator;
gstSphere *sphere = new gstSphere;

Sptere -> setRadius(20);

gstPHANToM *phantom = new gstPHANToM (``PHANToM name``);
Root -> addChild(phantom);
Root-> addChild(sphere);
Scene-> setRoot(root);
Scene -> startServoLoop();

While(!scene -> getDoneServoLoop())

// end application by calling scene -> stopServoLoop ();
 Force calculation and dynamics

Application Process Haptic Process

Haptic
Scene Creation
Rendering

Collision detection y
Scene Rendering z (0,0,0)
Collision response x
30 fps

1000 Hz
Haptic State Haptic
Update Servo loop

Clean-up adapted from Ghost SDK Programmer’s Guide

(version 3.1)
Collision detection and response
 The scene graph contains at least one representation of the
haptic interface through gstPHANToM node. There can be up
to four such nodes (four haptic interfaces in one haptic scene)
 Collisions are detected between this node and the geometry
nodes through the gstShape node that goes from “untouched”
to “touched”;
 When collision exists, the gstPHANToM_SCP (surface
contact point) is added to the scene graph. This node should
be added to the scene graph under the same parent as
gstPHANToM node.
Collision detection and response
 Forces are calculated following collision;
 Collision response through dynamic effects (movable
nodes, solid body dynamics);
 Application informed if needed (user defined).

Normal Force
(depends on spring
and damper coefficients)

Friction Force
(depends on static and dynamic
friction coefficients)
Dynamic nodes

 The gstDynamic node adds movement ability to the

geometry nodes beneath it. A subtree under a gstDynamic
node represents one physically dynamic object.
 Forces generated by gstPHANToM node colliding with one
of the geometries of such object are added to the state of the
gstDynamic node
 Transformations (rotations, translations) are always applied
to the gstDynamic node, not its children;
 It has four derived classes gstDial, gstButton, gstSlider and
gstRigidBody.
Dynamic nodes (continued)
 When a gstDynamic node changes state, an event is
generated which calls a user-defined callback function.
 Example – the application may quit if a gstButton changes
state from pressed to released.

gstButton
behavioral example
 Updating the application
Application Process Haptic Process

Haptic
Scene Creation
Rendering

Collision detection y
Scene Rendering z (0,0,0)
Collision response x
30 fps

1000 Hz
Haptic State Haptic
Update Servo loop

Clean-up adapted from Ghost SDK Programmer’s Guide

(version 3.1)
Graphics and event callbacks
 The user selects which nodes have call-back functions, and
what information needs to be sent back to the application;
 This way the application calls updateGraphics to have graphics
information updated. Nodes that have a graphics call-back
defined, and have a new state since the last call to
updateGraphics will copy their current state to a defined data
structure
 Call-backs pass new state information of the haptic scene nodes
from GHOST haptics process to the application process;
 For example, the user can create a callback for the graphics
representation of the position of the gstPHANToM node. This
should change to callback of gstPHANToM_SCP after collision,
so the user can see the location of the contact point on the object.
Mapping the user to the haptic scene
User workspace
Phantom workspace
 Camera mapping to PHANToM workspace
z-axis

phantomSep
Transform M rotation

Camera

phantomSep
Transform M camera

phantomSep
Transform M zaxisOffset

from Ghost SDK Programmer’s Guide (version 3.1) Camera

 Scaling camera and PHANToM workspaces

Phantom workspace Phantom workspace

Phantom workspace

Camera Camera
Camera

Camera workspace Camera workspace Camera workspace

too large too small appropriate
 Scaling camera and PHANToM workspaces

Dxmax Dphantomxmax

Camera

 The scale factor depends on the distance Dxmax from

the focal point to the frustum
The distance Dphantomxmax from the non-scaled
PHANTOM workspace center to the side limit must
also be determined
The scale factor is then Sfrustum=Dxmax/Dphantomxmax
 Scaling camera and PHANToM workspaces

 To maintain haptic fidelity, the gstShape node physical

properties (compliance and damping) need to be scaled
too;
 SurfaceKspringnew = SurfaceKspringcurrent/Sfrustum

 SurfaceKdampingnew = SurfaceKdampingcurrent/Sfrustum

where SurfaceKspring and SurfaceKdamping are gstShape

compliance and damping coefficients.
 VR Toolkits discussed in this chapter
Name Appl Prgm Propri Language
mode etary
Java3D General text no Implemented in C
(Sun Micro) Purpose Programming in Java
Vizard Toolkit General Text/ yes OpenGL-based Python
and PeoplePak Purpose graph scripting language
WorldViz
GHOST (SensAble Haptics for text yes C++
Technologies) Phantom
H3D Haptics/ text no C++
Graphics
PeopleShop Military/ graph yes C/C++
(Boston Dynamics) civilian
Unity 3D Game Text/ yes JavaScript, C#,
engine graph and Python
 SenseGraphics
 Founded in 2004 in Stockholm
 SenseGraphics represents over twenty years of
experience in the haptics and graphics industry.
 SenseGraphics provides a high performance
application development platform which enables
integration of haptics and 3D stereo visualization
into multimodal software applications
 What is H3D API?
 Product of SenseGraphics
 Software development platform for multi-
sensory applications
 Uses the open standards X3D, OpenGL and
SenseGraphics haptics in a unified
scenegraph taking care of both the haptic
and graphic rendering
 What it does

 Combines graphics and haptics into one platform.

 Adds haptics to existing 3D models.
 Enables rapid programming of haptic applications
using X3D and Python.
 Easily extended with custom graphics-haptics
features using C++.
 Continued
 Supports SensAble, Novint and
MOOG FCS haptic devices.
 Supports most 3D stereo display
systems.
 Runs on Windows, Linux and
Mac.
H3DAPI Architecture
Some H3D nodes
Example Code
Results of code
 Applications
 Computer Assisted Radiology & Surgery
Switzerland (CARCAS)
 Application Cont’d
 University of Virginia

 http://www.youtube.com/watch?v=mrMsb71ZJ1I
Other Applications and Projects
 Why H3DAPI over Ghost?

 H3D is compatible with many scene-graph and 3D

environment generating platforms. (VRML, X3D,
Java3D, OpenGL)
 Uses C++ and Python scripting language.
 You get support haptics devices from several
manufacturers.
 H3D provides graphic renderings while ghost needs
another program. (Cortona 3D)
 References
 http://www.sensegraphics.com/index.php
 http://www.h3dapi.org/
 http://www.devmaster.net/forums/showthread.php?t=22
36
 http://www.carcas.ch/
 http://www.vrac.iastate.edu/~charding/Research/Haptics
.html
 http://www.sys.virginia.edu/ggerling/facilities.htm
 VR Toolkits discussed in this chapter
Name Appl Prgm Propri Language
mode etary
Java3D General text no Implemented in C
(Sun Micro) Purpose Programming in Java
Vizard Toolkit General Text/ yes OpenGL-based Python
and PeoplePak Purpose graph scripting language
WorldViz
GHOST (SensAble Haptics for text yes C++
Technologies) Phantom
H3D Haptics/ text no C++
Graphics
PeopleShop Military/ graph yes C/C++
(Boston Dynamics) civilian
Unity 3D Game Text/ yes JavaScript, C#,
engine graph and Python
 VR Toolkits discussed in this chapter
Name Application Proprietary Library size language

Java3D General Purpose no Implemented in C

(Sun Microsystems) Programming in Java
19 packages, 275 classes
Vizard and General Purpose yes OpenGL-based
PeoplePak (WorldViz) avatar extension Python scripting
language
GHOST (SensAble Haptics for yes C++
Technologies) Phantom
PeopleShop Military/civilian yes C/C++
(Boston Dynamics)
3DGame Studio Game engine yes C++
 BDI PeopleShop/DI-Guy characteristics
 Provides a realistic way to simulate human characters in
real-time scenes without using tracking suits;
 Is a task-level programming environment combined with a
menu-based GUI;
 Tasks are mapped to pre-defined (stored) joint motions
which are interpolated in real time;
 Well-suited for Distributed Interactive Simulations (DIS)
due to low bandwidth requirements and live reckoning;
 Initially designed for the military, now extended to civilian
applications, such as accident reenactment, architectural
walk-through, driving simulators, police training, etc.
 BDI PeopleShop/DI-Guy characteristics - continued

 Linkable object library that runs on SGI, Intel PCs, as well

as other platforms;
 The library has modules for run-time motion engines,
graphics display, motion data, 3D graphics models, textures,
and network interfaces for DIS;
 Runs under OpenGL, Direct3D, Mak Stealth and other
packages;
 Recommended hardware is Intel > 200MHz, 64 MB Ram,
and graphics accelerator (for Open GL, OpenGVS or
Direct3D).
 Scene Geometry

Define character
path
PeopleShop
Initiation
Define
sensors

Define
behavior

Define networking
 Scene Geometry

Define character
path
PeopleShop
Initiation
Define
sensors

Define
behavior

Define networking
 PeopleShop Characters

 Are articulated polygonal structures with 54 DOF and 11

links;
 Vehicles are also treated as characters;
 Different types of characters have different acceptable
actions;
 Each type of character has different user-selectable
appearances (ex. Character vehicle can be a tank or a police
car, etc.);
 Characters are textured to increase realism and reduce
polygonal count
Character selection
Character type determines acceptable actions (menu selectable)
Appearance selection

Bob_shorts Joe_blue Bridget_skirt Diane_teen

Character appearance (menu selectable)

BDI Toolkits

38 polygons

2500 polygons
Supplemental bdi.DI-
Guy-LOD.mpg
Character level-of-detail segmentation based on distance to virtual camera
improves real-time performance (up to about 100 characters can be in a scene)
 Scene Geometry

Define character
path
PeopleShop
Initiation
Define
sensors

Define
Behavior

Define networking
PeopleShop path specification

Waypoint
Slope
Adjuster
Path

Initial path Extended path Added waypoint

BDI Toolkits

Action End
bead bead

Last action bead

Stacked action
beads
Editing actions

VC 6.6
on book CD
VC 6.5
on book CD
 Scene Geometry

Define character
path
PeopleShop
Initiation
Define
sensors

Define
behavior

Define networking
BDI Toolkits
Sensor boundary

Soldier A

Soldier B

When soldier A enters the sensor volume, the system is notified – this triggers
soldier B’s shooting of A
PeopleShop sensors

Sensor boundary

Supplemental
Sensors are user-defined volumes in space that detect
bdi.farmhouse.mpg when a character enters them
(PeopleShop User’s Manual)
 Scene Geometry

Define character
path
PeopleShop
Initiation
Define
sensors

Define
behavior

Define networking
PeopleShop Behaviors
 Behaviors can be reflex (based on signals received from sensors);
 Behaviors can also be specified with decision beads;
 Decision beads can be placed on the character’s path (colored red);
 The two parameters characterizing a decision bead are
distance and length;
 Distance specifies how far from the start of the path the decision
Bead is placed;
 Length indicates the distance from the beginning of the decision
region that the decision bead is active;
 Decisions can be converted to script:
BDI Toolkits
Decision clauses (IF/THEN/ELSE)
PeopleShop
Run-time
PeolpeShop
Initiation

Scenario Visualization Interactive Training Immersive Training

User(s) User(s) User(s)

PeopleShop Run-time

PeolpeShop
Initiation

Scenario Visualization Interactive Training Immersive Training

User(s) User(s) User(s)

BDI PeopleShop Toolkit

VC 6.7

User is interacting in real time with the simulation using a joystick or mouse
and menu. Limited control and immersion. Natural speeds should not be
exceeded.
(from Koechling et al., 1997)
PeopleShop
Run-time
PeolpeShop
Initiation

Scenario Visualization Interactive Training Immersive Training

User(s) User(s) User(s)

BDI PeopleShop – Run time modes

Sensorized weapon

Omni-directional treadmill
User is interacting in real time with the simulation using a trackers and sensors.
Control is at the joint level and immersion is increased.
(BDI, 1997)
 Scene Geometry

Define character
path
PeopleShop
Initiation
Define
sensors

Define
behavior

Define networking
 PeopleShop Networking

 Updating human figures in DIS is much more bandwidth

expensive than vehicles;
Vehicles have few degrees of freedom, while a human
figures with 40 joints updated at 20 Hz require 800
packets/sec.;
Instead of updating every joint, PeopleShop only updates at
the task level (action, position, velocity). It requires about two
packets/sec to produce a smooth simulation;
Works well for large number of participants such as in
dismounted infantry training.
Uses “live reckoning” vs. dead reckoning used previously
for vehicles
BDI Toolkits
Classical DIS using dead reckoning

(from Koechling et al., 1997)

BDI Toolkits DIS using live reckoning and human-in-the-loop

DI-Guy model DI-Guy model

Task-level change
(action, orientation, velocity)

(from Koechling et al., 1997)

PeopleShop “Top Gun”
(courtesy Boston Dynamics Inc.)
 VR Toolkits discussed in this chapter
Name Appl Prgm Propri Language
mode etary
Java3D General text no Implemented in C
(Sun Micro) Purpose Programming in Java
Vizard Toolkit General Text/ yes OpenGL-based Python
and PeoplePak Purpose graph scripting language
WorldViz
GHOST (SensAble Haptics for text yes C++
Technologies) Phantom
H3D Haptics/ text no C++
Graphics
PeopleShop Military/ graph yes C/C++
(Boston Dynamics) civilian
Unity 3D Game Text/ yes JavaScript, C#,
engine graph and Python
 Game Engine Comparison
Unity UDK/Unreal DX Studio Java3D jMonkeyEngine

Price Free / $1500 Free / $$$ Free / $800 Free Free

Graphical Editing Yes Yes Yes No Minimal
Plugin required? Web only No Yes JVM JVM
Mono (C#)
Language Support JavaScript UnrealScript JavaScript Java Java
Boo (Python)
External Library Support Yes Yes Yes Yes Yes
PC PC
PC
Home Computer Deployment PC PC Mac Mac
Mac
Linux Linux
Web Deployment Yes No Yes WebStart WebStart

XBox360+Arcade XBox360+Arcade
Game Console Deployment
Wii+WiiWare PS3 No No No
(Licenses Required)
PS3 Sony NGP

Mobile Deployment iOS / Android iOS / Android Android No No

 Why not Java3D?
 Advantages
 Open source cross-platform development.
 Low-level control of scene graph and objects.
 Can be used with other Java and native libraries.

 Disatvantages
 Scene manipulation done strictly through source, leads to
slow turnaround.
 Higher level control is up to the programmer.
 3D sound very buggy.
 Community support only, no longer any commercial
support.
 Why Unity?•Free edition offers robust development
environment and educational licenses
available.
Unity
•Supports multiple programming
Price Free / $1500 languages to design and manipulate the
Graphical Editing Yes scene.
Plugin required? Web only

Mono (C#) •External library and .Net support

Language Support JavaScript allows seamless communication with
Boo (Python)
additional hardware devices.
External Library Support Yes

PC •Easy-to-use graphical interface allows

Home Computer Deployment
Mac
live scene editing for efficient
Web Deployment Yes development and testing.
Game Console Deployment
XBox360+Arcade
Wii+WiiWare
•Quick turnaround times.
(Licenses Required)
PS3
•Works on almost all available
Mobile Deployment iOS / Android platforms.
 Unity - Physics Engine
 Unity uses NVIDIA’s PhysX Engine.
 Streamlined physics modeling for rigid bodies, cars,
character ragdolls, soft bodies, joints, and cloths.
 By simply attaching a rigid body to a game object and
adding forces, realistic physical interactions can be
created.
 Objects with rigid bodies attached will interact with
each other.
 Colliders are used to control these object interactions
and trigger collision events.
Unity Gallery
Unity - GUI
Scene Hierarchy Inspector

Project Panel
 Unity – Project Panel
 This panel shows all of the available game assets in the
current project directory.
 Game assets can include scripts, prefabs, 3D models,
texture images, sound files, fonts, etc…
 New assets can be added by simply dragging them into
the project panel or placing them into the project
directory.
 These files can be edited and saved using external
programs and the scene will be updated automatically.
 Unity supports a number of 3D model formats and
converts to the Autodesk FBX format when added to the
project.
 Unity - Scene Hierarchy
 Provides a means of adding new game objects and
managing existing ones.
 Game objects can contain a combination of transforms,
graphics objects, physics colliders, materials, sounds,
lights, and scripts.
 Each game object in the hierarchal tree represents a node
in the scene graph.
 Similarly to VRML and Java3D, the scene graph
represents the relative spatial relationship of objects.
Example: A finger connected to a hand will translate
accordingly when the hand is moved.
Unity - Simple Hierarchy Example
 Unity - Inspector
 Shows the components attached to currently selected
game object and their properties.
 Manual control over an object’s transform allows precise
placement of objects.
 Variables exposed by scripts attached to the object can be
viewed and set through this panel, allowing parameters to
be changed without the need to edit source.
 These changes can be done while the project is live and
the scene will update immediately.
Unity - Simple Game Object
 Defines spatial properties
(Transformation matrix)

 Controls physics and

physical interactions.

 Graphics mesh, this is what

you will actually see.

 Script to destroy object after

N collisions or after elapsed
time. Contains particle
emitter for explosion effect.
 Sound associated with this
object.
 Unity - GUI
Scene Editor Game Preview

Console
 Unity - Scene Editor
 Allows graphical monitoring and manipulation of scene
objects.
 Switch between various orthogonal and perspective
views.
 Objects can be translated, rotated, and scaled graphically
with the mouse.
 When live, the editor works like a sandbox in which you
can play around with objects without actually modifying
the scene.
 Shows “Gizmos” for invisible scene objects, such as light
sources, colliders, cameras, and sound effects.
Unity - Simple JavaScript Example
 Public variables are exposed to the editor, allowing monitoring and editing of
the live scene. This also allows for communication between objects.
 The Update() method is called at every frame.
 In this example, every time the left-mouse button is clicked (1) a copy of the
input object is created and added to the scene in front of the camera (2), the
cube counter is increased (3), a randomly colored material is used (4), and a
force is applied (5). This gives the appearance that the object is being
launched away from you.

(1)
(2)
(3)

(4)
(5)
Unity - Complex Scene
 Unity - Asset Store
A marketplace to buy
and sell assets used
within Unity.
 This includes 3D
models, textures, scripts,
etc…
 Can be used to
drastically reduce
development time, or
sell assets you have
created.
 Unity - Union Marketplace
 Similar to Apple’s App Store, this is a
marketplace in which games can be sold for
various platforms.
 Allows developers to reach out to markets that
would be otherwise inaccessible.
 70% of profits go to the developer while 30%
goes to Union.
 Unity - VR Applications
 Unity is able to use .Net libraries and external
shared libraries.
 This enables the use of nearly any hardware
device within Unity applications.
 Cameras can be used to create augmented reality.
Unity - AR on IPhone

Unity on iPhone