Curved surfaces and coherence for non-penetrating rigid body simulation
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Fast contact force computation for nonpenetrating rigid bodies
SIGGRAPH '94 Proceedings of the 21st 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
Incremental algorithms for collision detection between solid models
SMA '95 Proceedings of the third ACM symposium on Solid modeling and applications
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
Spatialized normal come hierarchies
I3D '01 Proceedings of the 2001 symposium on Interactive 3D graphics
Six degree-of-freedom haptic display of polygonal models
Proceedings of the conference on Visualization '00
Six-Degree-of-Freedom Haptic Display Using Localized Contact Computations
HAPTICS '02 Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Six Degree-of-Freedom Haptic Rendering of Complex Polygonal Models
HAPTICS '03 Proceedings of the 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'03)
A Framework for Fast and Accurate Collision Detection for Haptic Interaction
VR '99 Proceedings of the IEEE Virtual Reality
Intermediate representation for stiff virtual objects
VRAIS '95 Proceedings of the Virtual Reality Annual International Symposium (VRAIS'95)
Sensation preserving simplification for haptic rendering
ACM SIGGRAPH 2003 Papers
Direct haptic rendering of complex trimmed NURBS models
SIGGRAPH '05 ACM SIGGRAPH 2005 Courses
Efficient Point-Based Rendering Techniques for Haptic Display of Virtual Objects
Presence: Teleoperators and Virtual Environments
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
A Six Degree-of-Freedom God-Object Method for Haptic Display of Rigid Bodies with Surface Properties
IEEE Transactions on Visualization and Computer Graphics
Contact Model for Haptic Medical Simulations
ISBMS '08 Proceedings of the 4th international symposium on Biomedical Simulation
Interaction: interfaces, algorithms, and applications
ACM SIGGRAPH 2009 Courses
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This paper describes a haptic rendering algorithm for arbitrary polygonal models using a six degree-of-freedom haptic interface. The algorithm supports activities such as virtual prototyping of complex polygonal models and adding haptic interaction to virtual environments. The underlying collision system computes local extrema in distance between the model controlled by the haptic device and the rest of the scene. The haptic rendering computes forces and torques on the moving model based on these local extrema. The system is demonstrated on models with tens of thousands of triangles and developed in an accessibility application for finding collision-free paths.