Time-Critical Distributed Contact for 6-DoF Haptic Rendering of Adaptively Sampled Reduced Deformable Models
Jernej Barbič, Doug L. James
2007 ACM SIGGRAPH / Eurographics Symposium on Computer Animation (2007)
teaser

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 real-time 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.

Jernej Barbič, Doug L. James (2007). Time-Critical Distributed Contact for 6-DoF Haptic Rendering of Adaptively Sampled Reduced Deformable Models. 2007 ACM SIGGRAPH / Eurographics Symposium on Computer Animation.

@inproceedings{Barbic:2007:Deformable,
author = "Jernej Barbi\v{c} and Doug L. James",
title = "Time-Critical Distributed Contact for 6-DoF Haptic Rendering of Adaptively Sampled Reduced Deformable Models",
year = "2007",
month = aug,
booktitle = "2007 ACM SIGGRAPH / Eurographics Symposium on Computer Animation",
links = "http://graphics.cs.cmu.edu/projects/defoContact/",
}