linux-kernel - Re: FF layer restrictions [Was: [PATCH 1/1] Input: add sensable phantom driver]

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Date:	Wed, 14 Mar 2007 20:18:54 +0100
From:	"STenyaK (Bruno González)" <stenyak@...il.com>
To:	"Dmitry Torokhov" <dmitry.torokhov@...il.com>
Cc:	"Anssi Hannula" <anssi.hannula@...il.com>,
	"Jiri Slaby" <jirislaby@...il.com>,
	"johann deneux" <johann.deneux@...il.com>,
	"Linux kernel mailing list" <linux-kernel@...r.kernel.org>,
	linux-input@...ey.karlin.mff.cuni.cz
Subject: Re: FF layer restrictions [Was: [PATCH 1/1] Input: add sensable phantom driver]

On 3/14/07, Dmitry Torokhov <dmitry.torokhov@...il.com> wrote:
> > I have a question: if the force is to be 3D, why only 3 possible values?
> > What would they be, 3 torques or 3 forces? In the case of car sims (ff
> > steering wheels), only one axis of torque is usually used (except for 6 dof
> > platforms, as mentioned).
> >
>
> I wonder if we could somehow extend or augment FF envelope se we could
> specify a plane for the effect.. Then a vector could be represented by
> a sum 3 constant effects in 3 separate planes and we could also use
> spring and other effects as well.

Ideally, afaik we should use:
-3 values for translation force (linear force): x,y,z components of
the force vector.
-4 values for rotation force (torque): x,y,z,w components of the
quaternion. You can also use euler angles (and i think there are
another one or two notations), which is just 3 values, but i'm not
sure it will be a correct decision (due to the gimbal lock problem,
which may or may not be present in ff devices, dunno).

-- 
Saludos,
     STenyaK

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