1 / 12

Presented by: Jernej Barbic Graphics Lab Carnegie Mellon University

Six Degree-of-Freedom Haptic Rendering Using Voxel Sampling W.A.McNeely K.D.Puterbaugh J.J.Troy The Boeing Company Proc. of ACM SIGGRAPH 1999, pages 401–408, 1999. Presented by: Jernej Barbic Graphics Lab Carnegie Mellon University. Note: most images are taken from the SIGGRAPH 1999 paper.

claire-lamb
Download Presentation

Presented by: Jernej Barbic Graphics Lab Carnegie Mellon University

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Six Degree-of-Freedom Haptic Rendering Using Voxel SamplingW.A.McNeely K.D.Puterbaugh J.J.TroyThe Boeing CompanyProc. of ACM SIGGRAPH 1999, pages 401–408, 1999. Presented by: Jernej Barbic Graphics Lab Carnegie Mellon University Note: most images are taken fromthe SIGGRAPH 1999 paper. source: www.sensable.com

  2. This paper addresses:6-DOF force-feedback haptic rendering • Can manipulate a rigid object in a detailed rigid static scene • The user feels both forces and torques

  3. This paper addresses:6-DOF force-feedback haptic rendering • Can manipulate a rigid object in a detailed rigid static scene • The user feels both forces and torques

  4. Virtual coupling Necessary to improvesimulation stability. virtual spring Two independent springs:one for position, one for orientation. Spring rest length is zero.

  5. Representing the manipulated object: Point Shell Point shell = near-uniform collection of points on the surface Number of points = 380

  6. Representing the manipulated object: Point Shell • Each point caches its inward normal • Point shell and normals computed duringpre-process once and for all

  7. Representing static environment: VoxMap • a 3D volumetric data structure

  8. Static environment representation (VoxMap) 0 = free space 1 = interior 2 = surface 3 = proximity =

  9. Merge multiple static objects into one structure 0 = free space 1 = interior 2 = surface 3 = proximity =

  10. Point Shell and Voxmap together At every cycle: • Determine environment forces:probe each point against thevolumetric data structure • Determine the virtual coupling force • Same for torques

  11. Point Shell and Voxmap together At every cycle: • Sum of forces on dynamic object =sum of environment forces + + virtual coupling force • Do one Euler step to update the position of dynamic object • Send negative virtualcoupling force to user • Same for torque

  12. Compress Voxmap into a Voxmap Tree • Reason: • Voxmap data structure is huge • Good: • compresses data • Bad: • slower to lookup than “raw” voxels

More Related