Algorithms and Data Structures for Haptic Rendering: Curve Constraints, Distance Maps, and Data Logging
Algorithms and Data Structures for Haptic Rendering: Curve Constraints, Distance Maps, and Data Logging
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触觉渲染的算法和数据结构：曲线约束、距离图和数据记录
DOI：
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发表时间：
2007
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通讯作者：
D. Morris
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文献类型：
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作者：
D. Morris
在本文中，我们描述了三种新的数据处理技术用于触觉渲染和模拟：我们提出了一种方法来约束触觉设备沿沿着离散采样曲线旅行。我们提出了一种方法来生成距离地图的表面网格使用轴对齐包围盒（AABB）树。我们的方法利用相邻点之间的空间相干性。我们提出了一种数据结构，允许以线程安全、无锁的方式将数据从高优先级触觉渲染线程流式传输到低优先级数据记录线程。我们为每种技术提供了性能指标和示例应用程序。尽可能提供C++风格的伪代码，并将其用作介绍我们方法的基础。每个部分还提供了实际实现的链接。
In this paper, we describe three novel data processing techniques used for haptic rendering and simulation: We present an approach to constraining a haptic device to travel along a discretely-sampled curve. We present an approach to generating distance maps from surface meshes using axis-aligned bounding box (AABB) trees. Our method exploits spatial coherence among neighboring points. We present a data structure that allows thread-safe, lock-free streaming of data from a high-priority haptic rendering thread to a lower-priority data-logging thread. We provide performance metrics and example applications for each of these techniques. C++-style pseudocode is provided wherever possible and is used as the basis for presenting our approaches. Links to actual implementations are also provided for each section.