Merging BSP trees yields polyhedral set operations
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Generalized implicit functions for computer graphics
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
Haptic rendering: programming touch interaction with virtual objects
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
OpenGL programming guide (2nd ed.): the official guide to learning OpenGL version 1.1.
OpenGL programming guide (2nd ed.): the official guide to learning OpenGL version 1.1.
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
Computational Geometry: Theory and Applications - special issue on virtual reality
Fast penetration depth computation for physically-based animation
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Large haptic topographic maps: marsview and the proxy graph algorithm
I3D '03 Proceedings of the 2003 symposium on Interactive 3D graphics
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
Six-degree-of-freedom haptic rendering using incremental and localized computations
Presence: Teleoperators and Virtual Environments
Haptic Rendering: Introductory Concepts
IEEE Computer Graphics and Applications
Haptic Display of Interaction between Textured Models
VIS '04 Proceedings of the conference on Visualization '04
Sensation-Preserving Haptic Rendering
IEEE Computer Graphics and Applications
Efficient Point-Based Rendering Techniques for Haptic Display of Virtual Objects
Presence: Teleoperators and Virtual Environments
GPU-Based Distance Map Calculation for Vector Field Haptic Rendering
WHC '07 Proceedings of the Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
Energy bounding algorithm based-on passivity theorem for stable haptic interaction control
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
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This paper proposes a novel, accurate, and efficient hybrid CPU/GPU-based 3-DOF haptic rendering algorithm for highly complex and large-scale virtual environments (VEs) that may simultaneously contain different types of object data representations. In a slower rendering process on the GPU, local geometry near the haptic interaction point (HIP) is obtained in the form of six directional depth maps from virtual cameras adaptively located around the object to be touched. In a faster rendering process on the CPU, collision detection and response computations are performed using the directional depth maps without the need for any complex data hierarchy of virtual objects, or data conversion of multiple data formats. To efficiently find an ideal HIP (IHIP), the proposed algorithm uses a new “abstract” local occupancy map instance (LOMI) and the nearest neighbor search algorithm, which does not require physical memory for storing voxel types during online voxelization and reduces the search time by a factor of about 10. Finally, in order to achieve accurate haptic interaction, sub-voxelization of a voxel in LOMI is proposed. The effectiveness of the proposed algorithm is subsequently demonstrated with several benchmark examples.