Six degree-of-freedom haptic display of polygonal models
Proceedings of the conference on Visualization '00
EGVE '02 Proceedings of the workshop on Virtual environments 2002
The pLab project: an extensible architecture for physically-based simulations
SCCG '02 Proceedings of the 18th spring conference on Computer graphics
Enhancing Randomized Motion Planners: Exploring with Haptic Hints
Autonomous Robots
Slicing-based volumetric collision detection
Journal of Graphics Tools
Fast and Accurate Collision Detection for Virtual Environments
Dagstuhl '97, Scientific Visualization
inTouch: Interactive Multiresolution Modeling and 3D Painting with a Haptic Interface
VR '00 Proceedings of the IEEE Virtual Reality 2000 Conference
Six-degree-of-freedom haptic rendering using incremental and localized computations
Presence: Teleoperators and Virtual Environments
Transatlantic touch: a study of haptic collaboration over long distance
Presence: Teleoperators and Virtual Environments - Special issue: Advances in collaborative virtual environments
Spatial constraint method: a new approach to real-time haptic interaction in virtual environments
Presence: Teleoperators and Virtual Environments - Special issue: Advances in collaborative virtual environments
A Large Haptic Device for Aircraft Engine Maintainability
IEEE Computer Graphics and Applications
Six Degree-of-Freedom Haptic Rendering Using Spatialized Normal Cone Search
IEEE Transactions on Visualization and Computer Graphics
Proceedings of the 2005 ACM SIGCHI International Conference on Advances in computer entertainment technology
A framework for bounded-time collision detection in haptic interactions
Proceedings of the ACM symposium on Virtual reality software and technology
Introduction to haptic rendering
SIGGRAPH '05 ACM SIGGRAPH 2005 Courses
Fast continuous collision detection for articulated models
SM '04 Proceedings of the ninth ACM symposium on Solid modeling and applications
DS-RT '07 Proceedings of the 11th IEEE International Symposium on Distributed Simulation and Real-Time Applications
A guided tour in haptic audio visual environments and applications
International Journal of Advanced Media and Communication
Accurate and efficient cpu/gpu-based 3-dof haptic rendering of complex static virtual environments
Presence: Teleoperators and Virtual Environments
The point collocation-based method of finite spheres (PCMFS) for real time surgery simulation
Computers and Structures
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
Extending the friction cone algorithm for arbitrary polygon based haptic objects
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
Realistic cross-platform haptic applications using freely- available libraries
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
A flexible framework for wide-spectrum vr development
Presence: Teleoperators and Virtual Environments
Tracking point-curve critical distances
GMP'06 Proceedings of the 4th international conference on Geometric Modeling and Processing
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We present a framework for fast and accurate collision detection for haptic interaction with polygonal models. Given a model, we pre-compute a hybrid hierarchical representation, consisting of uniform grids and trees of tight-fitting oriented bounding box trees (OBB- Trees). At run time, we use hybrid hierarchical representations and exploit frame-to-frame coherence for fast proximity queries. We describe a new overlap test, which is specialized for intersection of a line segment with an oriented bounding box for haptic simulation and takes 6-36 operations excluding transformation costs. The algorithms have been implemented as part of H- COLLIDE and interfaced with a PHANToM arm and its haptic toolkit, GHOST, and applied to a number of models. As compared to the commercial implementa- tion, we are able to achieve up to 20 times speedup in our experiments and sustain update rates over 1000Hz on a 400MHz Pentium II.