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1999
IEEE

A Framework for Fast and Accurate Collision Detection for Haptic Interaction

9 years 6 months ago
A Framework for Fast and Accurate Collision Detection for Haptic Interaction
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- 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 6-36 operations excluding transformation costs. The algorithms have been implemented as part of HCOLLIDE 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.
Arthur D. Gregory, Ming C. Lin, Stefan Gottschalk,
Added 04 Aug 2010
Updated 04 Aug 2010
Type Conference
Year 1999
Where VR
Authors Arthur D. Gregory, Ming C. Lin, Stefan Gottschalk, Russell Taylor
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