Time-critical distributed contact for 6-DoF haptic rendering of adaptively sampled reduced deformable models

Barbic, Jernej; James, Doug

Time-critical distributed contact for 6-DoF haptic rendering of adaptively sampled reduced deformable models

Date

2007

Authors

Barbic, Jernej
James, Doug

Publisher

The Eurographics Association

Abstract

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 realtime 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.

        @inproceedings{:10.2312/SCA/SCA07/171-180
,
booktitle = {Eurographics/SIGGRAPH Symposium on Computer Animation
},
editor = {Dimitris Metaxas and Jovan Popovic
},
title = {{Time-critical distributed contact for 6-DoF haptic rendering of adaptively sampled reduced deformable models
}},
author = {Barbic, Jernej and 
James, Doug
},
year = {2007
},
publisher = {The Eurographics Association
},
ISSN = {1727-5288
},
ISBN = {978-3-905673-44-9
},
DOI = {/10.2312/SCA/SCA07/171-180
}
}