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COMGEO
2000
ACM

Fast and accurate collision detection for haptic interaction using a three degree-of-freedom force-feedback device

9 years 2 months ago
Fast and accurate collision detection for haptic interaction using a three degree-of-freedom force-feedback device
We present a fast and accurate collision detection algorithm for haptic interaction with polygonal models. Given a model, we pre-compute a hybrid hierarchical representation, consisting of uniform grids (represented using a hash table) and trees of tight- tting oriented bounding box trees (OBBTrees). 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 42-72 operations including 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. In practice, our prototype implementation can a...
Arthur D. Gregory, Ming C. Lin, Stefan Gottschalk,
Added 17 Dec 2010
Updated 17 Dec 2010
Type Journal
Year 2000
Where COMGEO
Authors Arthur D. Gregory, Ming C. Lin, Stefan Gottschalk, Russell Taylor
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