Mikel Sagardia
ABSTRACT
Collision detection, force computation, and proximity queries are fundamental in interactive gaming, assembly simulations, or virtual prototyping. However, many available methods have to find a trade-off between the accuracy and the high computational speed required by haptics (1 kHz). [McNeely et al. 2006] presented the Voxmap-Pointshell (VPS) Algorithm, which enabled more reliable six-DoF haptic rendering between complex geometries than other approaches based on polygonal data structures. For each colliding object pair, this approach uses (i) a voxelmap or voxelized representation of one object and (ii) a pointshell or point-sampled representation of the other object (see Figure 2). In each cycle, the penetration of the points in the voxelized object is computed, which yields the collision force. [Barbič and James 2008] extended the VPS Algorithm to support deformable objects. This approach builds hierarchical data structures and distance fields that are updated during simulation as the objects deform.
Supplemental Material
Available for Download
Supplemental material.
- Barbič, J., and James, D. 2008. Six-dof haptic rendering of contact between geometrically complex reduced deformable models. Haptics, IEEE Transactions on 1, 1 (jan.-june), 39--52. Google Scholar
Digital Library
- McNeely, W. A., Puterbaugh, K. D., and Troy, J. J. 2006. Voxel-based 6-dof haptic rendering improvements. Haptics-e: The Electronic Journal of Haptics Research 3.Google Scholar
- Sagardia, M., Hulin, T., Preusche, C., and Hirzinger, G. 2008. Improvements of the voxmap-pointshell algorithm - fast generation of haptic data-structures. In 53. IWK - TU Ilmenau.Google Scholar
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