Modular System for Haptic Interaction with Multi-contact Collision Detection

We present a system for haptic interaction using multi-contact collision-detection algorithms. The architecture and modular structure of the system allows us not only to experiment with various algorithms, but also use them simultaneously. The system is based primarily on SNCH (Spatialized Normal Cone Hierarchies) algorithm, which we improved to achieve better stability. We also implemented a point-shell versus voxel grid collision detection and other algorithms can be included easily as well. This allows us, for example, to detect collisions with the main parts of the scene using the precise SNCH algorithm and roughly voxelize the non-critical parts so they can be tested differently to achieve higher speeds in runtime or in preprocessing. The system supports 6-DoF haptic devices and uses virtual coupling and physical simulation of the haptic tools to improve haptic interaction.