가상조립 환경 구축을 위한 햅틱 랜더링

In this paper, we implement a high-performance haptic rendering algorithm to derive a haptic device by means of a fast collision detection for high-resolution 3D models and a kinematic simulation for a multilinked body in order to represent the interaction of virtual objects that enhances the sense of immersion. We implement a fast serial collision detection algorithm that can handles meshes of more than 10,000 concave triangles. For this purpose, we develop a data conversion technique, which is free of commercial license, that can import a conventional modeling/CAD software models. We evaluate the quantitative performance analysis for various collision detection algorithms that are based on bounding volume hierarchy and space partitioning techniques. We design a data structure that contains geometry, rendering properties, and physical properties for haptic rendering purposes.