A unified approach for physically-based simulations and haptic rendering
Proceedings of the 2009 ACM SIGGRAPH Symposium on Video Games
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Extension of Colgate's passivity condition for variable-rate haptics
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Passive-set-position-modulation framework for interactive robotic systems
IEEE Transactions on Robotics
Interference-aware geometric modeling
Proceedings of the 2011 SIGGRAPH Asia Conference
Haptic display of rigid body contact using generalized penetration depth
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part I
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
EuroHaptics'12 Proceedings of the 2012 international conference on Haptics: perception, devices, mobility, and communication - Volume Part I
A dental simulator for training of prevalent interventions: tooth restoration and ultrasonic scaling
EuroHaptics'12 Proceedings of the 2012 international conference on Haptics: perception, devices, mobility, and communication - Volume Part II
Efficient collision detection for brittle fracture
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Efficient collision detection for brittle fracture
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Efficient collision detection for composite finite element simulation of cuts in deformable bodies
The Visual Computer: International Journal of Computer Graphics
Stable adaptive algorithm for Six Degrees-of-Freedom haptic rendering in a dynamic environment
The Visual Computer: International Journal of Computer Graphics
| Hi-index | 0.00 |
Real-time evaluation of distributed contact forces between rigid or deformable 3D objects is a key ingredient of 6-DoF force-feedback rendering. Unfortunately, at very high temporal rates, there is often insufficient time to resolve contact between geometrically complex objects. We propose a spatially and temporally adaptive approach to approximate distributed contact forces under hard real-time constraints. Our method is CPU based, and supports contact between rigid or reduced deformable models with complex geometry. We propose a contact model that uses a point-based representation for one object, and a signed-distance field for the other. This model is related to the Voxmap Pointshell Method (VPS), but gives continuous contact forces and torques, enabling stable rendering of stiff penalty-based distributed contacts. We demonstrate that stable haptic interactions can be achieved by point-sampling offset surfaces to input "polygon soup'' geometry using particle repulsion. We introduce a multi-resolution nested pointshell construction which permits level-of-detail contact force computation, and enables contact graceful degradation in close-proximity scenarios. Parametrically deformed distance fields are proposed to support contact between reduced deformable objects. We present several examples of 6-DoF haptic rendering of geometrically complex rigid and deformable objects in distributed contact at real-time kilohertz rates.