Hierarchical Data Structures and Algorithms for Computer Graphics. Part I.
IEEE Computer Graphics and Applications
Applications of spatial data structures: Computer graphics, image processing, and GIS
Applications of spatial data structures: Computer graphics, image processing, and GIS
The design and analysis of spatial data structures
The design and analysis of spatial data structures
An efficient ray-polygon intersection
Graphics gems
A survey of ray tracing acceleration techniques
An introduction to ray tracing
Merging BSP trees yields polyhedral set operations
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
The R*-tree: an efficient and robust access method for points and rectangles
SIGMOD '90 Proceedings of the 1990 ACM SIGMOD international conference on Management of data
Approximation hierarchies and S-bounds
SMA '91 Proceedings of the first ACM symposium on Solid modeling foundations and CAD/CAM applications
I-COLLIDE: an interactive and exact collision detection system for large-scale environments
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
V-COLLIDE: accelerated collision detection for VRML
VRML '97 Proceedings of the second symposium on Virtual reality modeling language
The haptic display of complex graphical environments
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Fast, minimum storage ray-triangle intersection
Journal of Graphics Tools
Spherical shell: a higher order bounding volume for fast proximity queries
WAFR '98 Proceedings of the third workshop on the algorithmic foundations of robotics on Robotics : the algorithmic perspective: the algorithmic perspective
The digital Michelangelo project: 3D scanning of large statues
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
Efficient Collision Detection Using Bounding Volume Hierarchies of k-DOPs
IEEE Transactions on Visualization and Computer Graphics
Efficient collision detection of complex deformable models using AABB trees
Journal of Graphics Tools
Interactive Simulation of Surgical Cuts
PG '00 Proceedings of the 8th Pacific Conference on Computer Graphics and Applications
A Framework for Fast and Accurate Collision Detection for Haptic Interaction
VR '99 Proceedings of the IEEE Virtual Reality
A constraint-based god-object method for haptic display
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 3 - Volume 3
Multi-Resolution Modeling and Locally Refined Collision Detection for Haptic Interaction
3DIM '05 Proceedings of the Fifth International Conference on 3-D Digital Imaging and Modeling
Fast and reliable collision culling using graphics hardware
Proceedings of the ACM symposium on Virtual reality software and technology
Collision detection and proximity queries
ACM SIGGRAPH 2004 Course Notes
Real-Time Collision Detection (The Morgan Kaufmann Series in Interactive 3-D Technology) (The Morgan Kaufmann Series in Interactive 3D Technology)
A framework for bounded-time collision detection in haptic interactions
Proceedings of the ACM symposium on Virtual reality software and technology
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In this paper, we present a collision detection algorithm and a force response algorithm both for use in dynamic, rigid-bodied, highly-detailed, hapto-visual virtual environments in which the models' geometry is point-based. Our collision detection algorithm partitions the virtual space into a modified octree in a preprocessing step. At runtime, collision detection involves querying the octree for the octant where the end-effector currently is, as well as the indices of neighboring octants. After the world space is narrowed down to a volume of interest, the algorithm checks to see if the end-effector falls inside any axes-aligned bounding box that is centered at the model surface points that reside in the aforementioned volume of interest. A collision is defined as the haptic endeffector being found inside an axes-aligned bounding box centered at a model surface point. After a collision is detected, the force response algorithm calculates a force vector that starts at the end-effector's current position and ends at the model surface point closest to the end-effector. This is an adaptation of the common god/proxy-object approach but for use in point-based models.