Contact Determination for Real-time Haptic Interaction in 3D Modeling, Editing and Painting
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Collision detection and distance computation are important for a number of engineering applications including dynamic simulation, tolerance verification, object manipulation, motion planning and control. Numerous algorithms and techniques have been proposed. (See a recent survey [LG98].) In order to meet the stringent requirement of haptic rendering, new algorithms and specialized system implementation need to be developed to substain KHz haptic update rates on complex models. This requires improving the state of the art in contact determination by at least an order of magnitude. In this paper, we present a general and extensible algorithmic framework for fast and accurate contact determination for haptic display of complex geometric models. Our ultimate goal is to support a wide range of force feedback devices. Given a model, we pre-compute a hybrid hierarchical representation, utilizing both spatial partitioning and bounding volume hierarchy. At run time, we use hybrid hierarchical representations and exploit frame-to-frame coherence for fast proximity queries. We further discuss technical issues involved and propose approaches to improve the overall system performance. An initial prototype system has been implemented and interfaced with a 3-dof 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 1000Hz on a 400MHz Pentium II. Based on our prototype implementation “H-Collide”, we develop an intuitive 3D interface for interactively editing and painting a 3D polygonal mesh using a 3-dof PHANToM. An artist or a designer can use this system to create a multi-resolution polygonal mesh, further refine it by multi-resolution modeling techniques or enhance its look by painting colors and textures on it. The system allows the user to naturally create complex forms by a sense of touch and to freely interact with the design space without specification of rigorous mathematics.
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