B Technical Appendix
B.3 Input of Special Control Data via Ethernet
DTrack2 is using ethernet (UDP/IP datagrams) to receive special control data from other
applications. They have to be sent to the fixed port 50110 of the corresponding ART Con-
troller.
The following data types are supported:
Identifier Type of data
tfb Fingertracking Tactile control
B.3.1 Fingertracking Tactile Control Commands
Identifier tfb.
i
Only available, if the Fingertracking license is present for DTrack2
This command sets the strength of the feedback of tactile feedback devices, like FINGER-
TRACKING2 Tactile. General format:
tfb
<n>
[
<hand
id>
<finger
id>
<penetration
depth>
<strength>
]
...
• The first number ’n’ after the identifier ’tfb’ gives the number of tactile commands
followed hereafter
• Each tactile command allows to change the feedback of one finger at one hand; it
shows up in a block (within brackets []) that contains:
1. Hand ID number (’hand id’): starting with 0, corresponds with H1...H4 of the
DTrack2 frontend.
2. Finger ID number (’finger id’): running from 0 (thumb) to 4 (pinkie).
3. Penetration depth (’penetration depth’): a value between 0.0 and 1.0, denoting
how deep the finger penetrates the virtual object.
4. Strength (’strength’): a value between 0.0 and 1.0, corresponding to the strength
of the feedback.
Z
Feedback is turned off when time-out is reached (i.e. several seconds
without sending commands). So repeat control commands even if val-
ues are not changing!
Z
Please note, that with DTrack2 prior v2.13.0 the protocol format was
limited to just one tactile command per UDP packet (so <n> had to be
1).
Z
Please note, that vibro-tactile feedback devices (i.e. ’FINGERTRACK-
ING2 Tactile’) do not show a penetration depth. For compatibility with
legacy code, a given penetration depth is multiplied with the strength.
This results in a down-scaling of the strength by a low penetration
value.
Example (one line):
268
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