Six degree-of-freedom haptic rendering using voxel sampling
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Six degree-of-freedom haptic display of polygonal models
Proceedings of the conference on Visualization '00
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
Interactive continuous collision detection for non-convex polyhedra
The Visual Computer: International Journal of Computer Graphics
Haptic rendering of surface-to-surface sculpted model interaction
SIGGRAPH '05 ACM SIGGRAPH 2005 Courses
Efficient Point-Based Rendering Techniques for Haptic Display of Virtual Objects
Presence: Teleoperators and Virtual Environments
A Six Degree-of-Freedom God-Object Method for Haptic Display of Rigid Bodies with Surface Properties
IEEE Transactions on Visualization and Computer Graphics
Generalized penetration depth computation
Computer-Aided Design
Six-DoF Haptic Rendering of Contact Between Geometrically Complex Reduced Deformable Models
IEEE Transactions on Haptics
Generalized penetration depth computation based on kinematical geometry
Computer Aided Geometric Design
A modular haptic rendering algorithm for stable and transparent 6-DOF manipulation
IEEE Transactions on Robotics
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Rigid body contact with multiple regions is common in virtual environments. The traditional penalty based haptic display treats translational penetration depth at each contact region independently, and hence causes the undesired effect of visual interpenetration since it does not guarantee all geometrical constraints simultaneously. It may also introduce force discontinuity due to the singularity of penetration depth. To overcome these artifacts, we present a method based on the concept of generalized penetration depth (GPD), which considers both translation and rotation to separate two overlapping objects. The method could be viewed as an extension of the classic god-object method from Euclidean space to configuration space in which GPD is defined. We demonstrate the method for 3-DoF rigid bodies using pre-computed contact space. For 6-DoF rigid bodies where pre-computation is not feasible, we propose an efficient method to approximate the local contact space based on continuous collision detection and quadratic programming.