TUTORIAL: Recent advance in collision/contact computation for haptic rendering

Summary form only given. Overview: Collision and contact queries are the essential part of haptic rendering, and they often become the computational bottleneck of haptic rendering. However, it is quite challenging for beginners to keep up with all the published papers and evolving rendering systems for collision detection and contact queries. This tutorial presents to haptic researchers an overview of existing techniques, practical solutions, and how the field will change in the coming years. It explains recent developments designed to achieve interactive performance for haptic applications using both object-space and image-space approaches. It also covers how these collision/contact queries can be integrated into challenging three- and six-degree-of-freedom haptic rendering using penalty- and constraint-based techniques. Intended Target Audience: Intermediate to advanced developers and end users who need to create efficient implementations for haptic rendering and haptic applications.