Barbic, JernejJames, DougDimitris Metaxas and Jovan Popovic2014-01-292014-01-292007978-3-905673-44-91727-5288https://doi.org/10.2312/SCA/SCA07/171-180Real-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.Categories and Subject Descriptors (according to ACM CCS): I.6.8 [Simulation and Modeling]: Types of Simulation: Animation, I.3.5 [Computer Graphics]: Computational Geometry and Object Modeling: Physically based modeling, I.3.7 [Computer Graphics]: Three-Dimensional Graphics and Realism: Virtual Reality