Time-critical distributed contact for 6-DoF haptic rendering of adaptively sampled reduced deformable models
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Date
2007
Authors
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Journal ISSN
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Publisher
The Eurographics Association
Abstract
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.
Description
@inproceedings{:10.2312/SCA/SCA07/171-180,
booktitle = {Eurographics/SIGGRAPH Symposium on Computer Animation},
editor = {Dimitris Metaxas and Jovan Popovic},
title = {{Time-critical distributed contact for 6-DoF haptic rendering of adaptively sampled reduced deformable models}},
author = {Barbic, Jernej and James, Doug},
year = {2007},
publisher = {The Eurographics Association},
ISSN = {1727-5288},
ISBN = {978-3-905673-44-9},
DOI = {/10.2312/SCA/SCA07/171-180}
}