Triangulating a nonconvex polytope
Discrete & Computational Geometry - Selected papers from the fifth annual ACM symposium on computational geometry, Saarbrücken, Germany, June 5-11, 1989
Convex decomposition of polyhedra and robustness
SIAM Journal on Computing
OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
The haptic display of complex graphical environments
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Six degree-of-freedom haptic rendering using voxel sampling
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
The hemi-cube: a radiosity solution for complex environments
SIGGRAPH '85 Proceedings of the 12th annual conference on Computer graphics and interactive techniques
Texture and reflection in computer generated images
Communications of the ACM
Six degree-of-freedom haptic display of polygonal models
Proceedings of the conference on Visualization '00
Light field mapping: efficient representation and hardware rendering of surface light fields
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Sensation preserving simplification for haptic rendering
ACM SIGGRAPH 2003 Papers
Six-degree-of-freedom haptic rendering using incremental and localized computations
Presence: Teleoperators and Virtual Environments
A study of level-of-detail in haptic rendering
ACM Transactions on Applied Perception (TAP)
Realistic Haptic Rendering of Interacting Deformable Objects in Virtual Environments
IEEE Transactions on Visualization and Computer Graphics
A framework for bounded-time collision detection in haptic interactions
Proceedings of the ACM symposium on Virtual reality software and technology
Approximate convex decomposition and its applications
Approximate convex decomposition and its applications
Accelerated haptic rendering of polygonal models through local descent
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
Haptic rendering with predictive representation of local geometry
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
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Haptic rendering is a growing concern of research community worldwide. However, it is a great challenge to haptically render complex objects. In this paper, a novel haptic rendering algorithm via directional sampling is proposed. We propose haptic box, an intermediate representation of target objects for haptic rendering, which encodes the intersection data of each sample directional ray with the target object. With haptic box, the contact information between a line segment and the target object can be derived by several line-box intersection tests and bilinear interpolations, and can be directly used to evaluate the feedback force. Experimental results show that our algorithm is insensitive to model complexity at the run-time stage and works both effectively and efficiently.