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- W2189389352 abstract "Inthis paper, wepresent acollision detection algorithm foruseinhapto-visual virtual environments containing highly- detailed, rigid, anddynamic models thataremanipulated with probe-like haptic devices. Ourapproach isprimarily motivated by theobservation thathighly detailed virtual models aretypically represented bydense point clouds (specifically those that resultfrom high-resolution laser-scans ofreal-life objects). Bynotviewing models asthesumoftheir constituent points, butrather dealing with thevertices individually, wepresent a novel collision detection algorithm that bounds eachindividual vertex withanaxes-aligned bounding boxthat isarranged inamodified octree during apre- processing phase. Collision detection atrun-time isthen performed viaaninvolved query oftheoctree searching forthehaptic probe 's coordinates inside oneoftheaforementioned bounding boxes. Our algorithm runsinlogarithmic timeO(log n)where nisthenumber ofvertices that makesupthemodel(s). Ourapproach accommodates environments where objects undergo rotation andtranslation buton thecondition that models remain rigid Keywords - Collision Detection. Haptics. Hapto- Visual. I.INTRODUCTION Collision detection (CD)istheprocess bywhichobjects in avirtual environment areexamined toseeif,when,and where, they comeincontact withoneanother. Thisdefinition makestheimportance ofCDapparent; itisanintegral part of anysortofvirtual environment that claims somemeasure of realism. Beitcomputer gameswhereaplayer expects hisor heravatar tonotwalkthrough awall, robots that haveto autonomously navigate a physical environment, or an animated movie where acharacter dribbles abasketball andis suretonothaveitgothrough theground, applications forCD areasnumerous asphysics-governed virtual (orvirtualized) environments. Demandsplaced on CD algorithms aredifferent for different applications. Thetwomajor considerations inCD design areaccuracy andspeed(memoryuse,model representation, robustness, easeofimplementation andother criteria areoutlined in(21)). Robotic navigation, forinstance, places ahigher value onspeed thanaccuracy; substituting the robot's complex geometry withthatofasimple bounding volume forthepurpose ofcollision detection isoften enough. Animated movierendering, ontheother hand, places ahigher demand onaccuracy thanonspeed (the animation isrendered onceandsimply played backlater), somoredetailed geometries areusedforthepurpose ofcollision detection. Other applications require bothspeed andaccuracy. Consider ahaptic surgery application that trains theusertoperform a givensurgical procedure ona virtual patient. Insucha scenario, bothspeed(real-time performance requirements) andaccuracy (haptic feedback requirements) areessential. Of interest to us inthispaperarehapto-visual environments that contain highly-detailed models andsupport" @default.
- W2189389352 created "2016-06-24" @default.
- W2189389352 creator A5051714876 @default.
- W2189389352 date "2007-01-01" @default.
- W2189389352 modified "2023-09-27" @default.
- W2189389352 title "A Collision Detection Algorithm forPoint-Like Haptic Interactions inHighly Detailed Virtual Environments" @default.
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