Arthur D. Gregory, M. Lin, S. Gottschalk, Russell M. Taylor
{"title":"A framework for fast and accurate collision detection for haptic interaction","authors":"Arthur D. Gregory, M. Lin, S. Gottschalk, Russell M. Taylor","doi":"10.1109/VR.1999.756921","DOIUrl":null,"url":null,"abstract":"We present a framework for fast and accurate collision detection for haptic interaction with polygonal models. Given a model, we pre-compute a hybrid hierarchical representation, consisting of uniform grids and trees of tight-fitting oriented bounding box trees (OBB-Trees). At run time, we use hybrid hierarchical representations and exploit frame-to-frame coherence for fast proximity queries. We describe a new overlap test, which is specialized for intersection of a line segment with an oriented bounding box for haptic simulation and takes 6-36 operations excluding transformation costs. The algorithms have been implemented as part of H-COLLIDE and interfaced with a PHANToM arm and its haptic toolkit, GHOST, and applied to a number of models. As compared to the commercial implementation, we are able to achieve up to 20 times speedup in our experiments and sustain update rates over 1000 Hz on a 400 MHz Pentium II.","PeriodicalId":175913,"journal":{"name":"Proceedings IEEE Virtual Reality (Cat. No. 99CB36316)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1998-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"159","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings IEEE Virtual Reality (Cat. No. 99CB36316)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/VR.1999.756921","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 159
Abstract
We present a framework for fast and accurate collision detection for haptic interaction with polygonal models. Given a model, we pre-compute a hybrid hierarchical representation, consisting of uniform grids and trees of tight-fitting oriented bounding box trees (OBB-Trees). At run time, we use hybrid hierarchical representations and exploit frame-to-frame coherence for fast proximity queries. We describe a new overlap test, which is specialized for intersection of a line segment with an oriented bounding box for haptic simulation and takes 6-36 operations excluding transformation costs. The algorithms have been implemented as part of H-COLLIDE and interfaced with a PHANToM arm and its haptic toolkit, GHOST, and applied to a number of models. As compared to the commercial implementation, we are able to achieve up to 20 times speedup in our experiments and sustain update rates over 1000 Hz on a 400 MHz Pentium II.