A survey of ray tracing acceleration techniques
An introduction to ray tracing
Curved surfaces and coherence for non-penetrating rigid body simulation
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Merging BSP trees yields polyhedral set operations
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Project GROPEHaptic displays for scientific visualization
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
The R*-tree: an efficient and robust access method for points and rectangles
SIGMOD '90 Proceedings of the 1990 ACM SIGMOD international conference on Management of data
Approximation hierarchies and S-bounds
SMA '91 Proceedings of the first ACM symposium on Solid modeling foundations and CAD/CAM applications
Point location in fat subdivisions
Information Processing Letters
The nanomanipulator: a virtual-reality interface for a scanning tunneling microscope
SIGGRAPH '93 Proceedings of the 20th annual conference on Computer graphics and interactive techniques
Surface modification tools in a virtual environment interface to a scanning probe microscope
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
Haptic rendering: programming touch interaction with virtual objects
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
I-COLLIDE: an interactive and exact collision detection system for large-scale environments
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Adding force feedback to graphics systems: issues and solutions
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
A haptic interaction method for volume visualization
Proceedings of the 7th conference on Visualization '96
Direct haptic rendering of sculptured models
Proceedings of the 1997 symposium on Interactive 3D graphics
The haptic display of complex graphical environments
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Spherical shell: a higher order bounding volume for fast proximity queries
WAFR '98 Proceedings of the third workshop on the algorithmic foundations of robotics on Robotics : the algorithmic perspective: the algorithmic perspective
H-COLLIDE: A Framework for Fast and Accurate Collision Detection for Haptic Interaction
H-COLLIDE: A Framework for Fast and Accurate Collision Detection for Haptic Interaction
Force display in molecular docking
Force display in molecular docking
Exploiting data coherency in multiple dataset visualization
CGIM '08 Proceedings of the Tenth IASTED International Conference on Computer Graphics and Imaging
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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 implementation, we are able to achieve up to 20 times speedup in our experiments and sustain update rates over 1000Hz on a 400MHz Pentium II.