SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
Using particles to sample and control implicit surfaces
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Collision detection for interactive graphics applications
Collision detection for interactive graphics 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
QSplat: a multiresolution point rendering system for large meshes
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
Dynamic real-time deformations using space & time adaptive sampling
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
DyRT: dynamic response textures for real time deformation simulation with graphics hardware
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
ACM Transactions on Graphics (TOG)
Real-Time Elastic Deformations of Soft Tissues for Surgery Simulation
IEEE Transactions on Visualization and Computer Graphics
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
Sensation preserving simplification for haptic rendering
ACM SIGGRAPH 2003 Papers
Six-degree-of-freedom haptic rendering using incremental and localized computations
Presence: Teleoperators and Virtual Environments
BD-tree: output-sensitive collision detection for reduced deformable models
ACM SIGGRAPH 2004 Papers
Interpolating and approximating implicit surfaces from polygon soup
ACM SIGGRAPH 2004 Papers
Quasi-rigid objects in contact
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Signed Distance Computation Using the Angle Weighted Pseudonormal
IEEE Transactions on Visualization and Computer Graphics
Real-Time subspace integration for St. Venant-Kirchhoff deformable models
ACM SIGGRAPH 2005 Papers
Interactive collision detection between deformable models using chromatic decomposition
ACM SIGGRAPH 2005 Papers
Quasi-Static Approximation for 6 Degrees-of-Freedom Haptic Rendering
Proceedings of the 14th IEEE Visualization 2003 (VIS'03)
Realistic Haptic Rendering of Interacting Deformable Objects in Virtual Environments
IEEE Transactions on Visualization and Computer Graphics
Physics-based s-Adaptive Haptic Simulation for Deformable Object
VR '06 Proceedings of the IEEE conference on Virtual Reality
Transparent Rendering of Tool Contact with Compliant Environments
WHC '07 Proceedings of the Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Interruptible collision detection for deformable objects
Computers and Graphics
A modular haptic rendering algorithm for stable and transparent 6-DOF manipulation
IEEE Transactions on Robotics
Optimizing cubature for efficient integration of subspace deformations
ACM SIGGRAPH Asia 2008 papers
Skipping steps in deformable simulation with online model reduction
ACM SIGGRAPH Asia 2009 papers
Image-based collision detection and response between arbitrary volume objects
Proceedings of the 2008 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Accurate and efficient cpu/gpu-based 3-dof haptic rendering of complex static virtual environments
Presence: Teleoperators and Virtual Environments
Interaction: interfaces, algorithms, and applications
ACM SIGGRAPH 2009 Courses
Volume contact constraints at arbitrary resolution
ACM SIGGRAPH 2010 papers
A nonsmooth Newton solver for capturing exact Coulomb friction in fiber assemblies
ACM Transactions on Graphics (TOG)
Constraint-based simulation of adhesive contact
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Presence: Teleoperators and Virtual Environments
Adaptive image-based intersection volume
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Efficient Image-Based Proximity Queries with Object-Space Precision
Computer Graphics Forum
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Real-time evaluation of distributed contact forces for rigid or deformable 3D objects is important for providing multi-sensory feedback in emerging real-time applications, such as 6-DoF haptic force-feedback rendering. Unfortunately, at very high temporal rates (1 kHz for haptics), there is often insufficient time to resolve distributed contact between geometrically complex objects. In this paper, we present a spatially and temporally adaptive sample-based approach to approximate contact forces under hard real-time constraints. The approach is CPU based, and supports contact between a rigid and a reduced deformable model with complex geometry. Penalty-based contact forces are efficiently resolved using a multi-resolution point-based representation for one object, and a signed-distance field for the other. Hard realtime approximation of distributed contact forces uses multi-level progressive point-contact sampling, and exploits temporal coherence, graceful degradation and other optimizations. We present several examples of 6-DoF haptic rendering of geometrically complex rigid and deformable objects in distributed contact at real-time kilohertz rates.