Continuous Collision Detection for Virtual Proxy Haptic Rendering of Deformable Triangular Mesh Models
Continuous Collision Detection for Virtual Proxy Haptic Rendering of Deformable Triangular Mesh Models
复制标题
DOI：
10.1109/toh.2019.2934104
复制
发表时间：
2019-10
影响因子：
2.9
通讯作者：
Haiyang Ding;Hironori Mitake;S. Hasegawa
中科院分区：
文献类型：
--
作者：
Haiyang Ding;Hironori Mitake;S. Hasegawa
大多数触觉系统都存在所谓的“隧道”问题，当虚拟对象向小的虚拟工具移动或变形时，就会出现这种问题。这个问题的发生是因为在碰撞检测过程中没有考虑虚拟对象的位移，并且可以通过连续碰撞检测（CCD）来解决。最初，触觉渲染与CCD提出了6自由度（DoF）的应用程序。然而，3-DoF在许多应用中使用简单并且足够。在本文中，我们专注于CCD与3自由度点物体触觉渲染的动态和可变形的对象。由于我们使用的虚拟代理方法，我们提出了一个三角代理CCD的方法与补充过程称为代理弹出来解决这个问题。结果表明，我们能够解决“隧道”问题，即使是一个小的代理对薄和可变形的物体与大的运动。此外，我们提出了探测触觉交互与可变形物体在多速率触觉渲染系统。通过使用定向粒子和基于位置的动力学，我们的系统是高效和稳定的。
Most haptic systems suffer from what is known as the “tunneling” problem, which arises when a virtual object moves or deforms largely towards a small virtual tool. This problem occurs because the displacement of the virtual object is not considered during collision detection and can be solved with Continuous Collision Detection (CCD). Originally, haptic rendering with CCD was proposed for applications with 6 Degrees-of-Freedom (DoF) only. However, 3-DoF is simple to use in, and sufficient for, many applications. In this paper, we focus on CCD with a 3-DoF point-object haptic rendering of dynamic and deformable objects. Since we use the virtual proxy method, we propose a triangle-proxy CCD approach with a complementary process called Proxy Pop-Out to solve this problem. The results show that we are able to solve the “tunneling” problem, even for a small proxy against thin and deformable objects with large motions. In addition, we present probing haptic interactions with deformable objects in a multi-rate haptic rendering system. By using Oriented Particles and Position Based Dynamics, our system is efficient and stable.