Title :
A framework for fast and accurate collision detection for haptic interaction
Author :
Gregory, Arthur ; Lin, Ming C. ; Gottschalk, Stefan ; Taylor, Russell
Author_Institution :
Dept. of Comput. Sci., North Carolina Univ., Chapel Hill, NC, USA
Abstract :
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 1000 Hz on a 400 MHz Pentium II
Keywords :
haptic interfaces; virtual reality; GHOST; collision detection; fast proximity queries; frame-to-frame coherence; haptic interaction; haptic simulation; haptic toolkit; hybrid hierarchical representation; hybrid hierarchical representations; oriented bounding box; polygonal models; tight-fitting oriented bounding box trees; transformation costs; Auditory displays; Computer displays; Computer science; Frequency; Haptic interfaces; Imaging phantoms; Probes; Runtime; Testing; Virtual environment;
Conference_Titel :
Virtual Reality, 1999. Proceedings., IEEE
Conference_Location :
Houston, TX
Print_ISBN :
0-7695-0093-5
DOI :
10.1109/VR.1999.756921