An efficient ray-polygon intersection
Graphics gems
A language for shading and lighting calculations
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Computational haptics: the sandpaper system for synthesizing texture for a force-feedback display
Computational haptics: the sandpaper system for synthesizing texture for a force-feedback display
A shading language on graphics hardware: the pixelflow shading system
Proceedings of the 25th 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
SIGGRAPH '85 Proceedings of the 12th annual conference on Computer graphics and interactive techniques
A user-programmable vertex engine
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Haptic perception of virtual roughness
CHI '01 Extended Abstracts on Human Factors in Computing Systems
SIGGRAPH '84 Proceedings of the 11th annual conference on Computer graphics and interactive techniques
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
Cg: a system for programming graphics hardware in a C-like language
ACM SIGGRAPH 2003 Papers
Haptics in Minimally Invasive Surgical Simulation and Training
IEEE Computer Graphics and Applications
Efficient Point-Based Rendering Techniques for Haptic Display of Virtual Objects
Presence: Teleoperators and Virtual Environments
Haptic manipulation of rational parametric planar cubics using shape constraints
Proceedings of the 2010 ACM Symposium on Applied Computing
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We present the Haptic Shading Framework (HSF), a framework for procedurally defining haptic texture. HSF haptic texture shaders are short procedures allowing an application-programmer to easily define interesting haptic surface interaction and the parameters that control the surface properties. These shaders provide the illusion of surface characteristics by altering previously calculated forces from object collision in the haptic pipeline.HSF can be used in an existing haptic application with few modifications. The framework consists of user-programmable modules that are dynamically loaded. This framework and all user-defined procedures are written in C++, with a provided library of useful math and geometry functions. These functions are meant to mimic RenderMan functionality, creating a familiar shading environment. As we demonstrate, many procedural shading methods and algorithms can be directly adopted for haptic shading.