A Six Degree-of-Freedom God-Object Method for Haptic Display of Rigid Bodies with Surface Properties
IEEE Transactions on Visualization and Computer Graphics
Continuous collision detection for articulated models using Taylor models and temporal culling
ACM SIGGRAPH 2007 papers
Interaction: interfaces, algorithms, and applications
ACM SIGGRAPH 2009 Courses
Six degree-of freedom haptic rendering for dental implantology simulation
ISBMS'10 Proceedings of the 5th international conference on Biomedical Simulation
Stable adaptive algorithm for Six Degrees-of-Freedom haptic rendering in a dynamic environment
The Visual Computer: International Journal of Computer Graphics
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This paper describes a generalization of the god-object method for haptic interaction between rigid bodies. Our approach separates the computation of the motion of the six degree-of-freedom god-object from the computation of the force applied to the user. The motion of the god-object is computed using continuous collision detection and constraint-based quasi-statics, which enables high-quality haptic interaction between contacting rigid bodies. The force applied to the user is computed using a novel constraint-based quasi-static approach, which allows us to suppress force artifacts typically found in previous methods. Our approach has been implemented on a 3.2 GHz Xeon bi-processor and has been successfully tested on complex benchmarks. Our results show that the separation into asynchronous processes allows us to satisfy the different update rates required by the haptic and the visual displays. The constraint-based force applied to the user, which handles any number of simultaneous contact points, is typically computed within a few microseconds, while the update of the configuration of the rigid god-object is performed within a few milliseconds for rigid bodies containing up to tens of thousands of triangles.