Time-critical distributed contact for 6-DoF haptic rendering of adaptively sampled reduced deformable models

Real-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 optimiz...

• Type: Conference
• Year: 2007
• Where: SCA
• Authors: Jernej Barbic, Doug L. James
• Keywords: Computer Graphics, Contact Forces, Deformable 3D Objects, Haptic Force-feedback Rendering, SCA 2007