Fast and accurate collision detection for haptic interaction using a three degree-of-freedom force-feedback device

We present a fast and accurate collision detection algorithm for haptic interaction with polygonal models. Given a model, we pre-compute a hybrid hierarchical representation, consisting of uniform grids (represented using a hash table) and trees of tight- tting oriented bounding box trees (OBBTrees). 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 42-72 operations including 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 1000Hz on a 400MHz Pentium II. In practice, our prototype implementation can a...

• Type: Journal
• Year: 2000
• Where: COMGEO
• Authors: Arthur D. Gregory, Ming C. Lin, Stefan Gottschalk, Russell Taylor
• Keywords: Applied Computing, Collision Detection Algorithm, COMGEO 2000, Haptic Interaction, Hybrid Hierarchical Representations