Six-DoF Haptic Rendering of Contact between Geometrically Complex Reduced Deformable Models
Jernej Barbič, Doug L. James
IEEE Transactions on Haptics (2008)
teaser

Real-time evaluation of distributed contact forces between rigid or deformable 3D objects is a key ingredient of 6-DoF force-feedback rendering. Unfortunately, at very high temporal rates, there is often insufficient time to resolve contact between geometrically complex objects. We propose a spatially and temporally adaptive approach to approximate distributed contact forces under hard real-time constraints. Our method is CPU-based and supports contact between rigid or reduced deformable models with complex geometry. We propose a contact model that uses a point-based representation for one object and a signed-distance field for the other. This model is related to the Voxmap-PointShell (VPS) method, but gives continuous contact forces and torques, enabling stable rendering of stiff penalty-based distributed contacts. We demonstrate that stable haptic interactions can be achieved by point-sampling offset surfaces to input

Jernej Barbič, Doug L. James (2008). Six-DoF Haptic Rendering of Contact between Geometrically Complex Reduced Deformable Models. IEEE Transactions on Haptics, 1(1), 39--52.

@article{Barbic:2008:SHR,
Author = {Jernej Barbi\v{c} and Doug L. James},
journal = {IEEE Transactions on Haptics},
Title = {Six-DoF Haptic Rendering of Contact between Geometrically
Complex Reduced Deformable Models},
Year = 2008,
volume = "1",
number = "1",
pages = "39--52",
links = "http://graphics.cs.cmu.edu/projects/defoContact/",
}