Publication details

Modular System for Haptic Interaction with Multi-contact Collision Detection



Year of publication 2011
Type Article in Proceedings
Conference Proceedings of the 11th International Conference on Computational Science and Its Applications (ICCSA)
MU Faculty or unit

Faculty of Informatics

Field Informatics
Keywords system; haptic; interaction; collision; multi-contact; modularity
Description We present a system for haptic interaction using multi-contact collision-detection algorithms. The architecture and modular structure of the system allows us not only to experiment with various algorithms, but also use them simultaneously. The system is based primarily on SNCH (Spatialized Normal Cone Hierarchies) algorithm, which we improved to achieve better stability. We also implemented a point-shell versus voxel grid collision detection and other algorithms can be included easily as well. This allows us, for example, to detect collisions with the main parts of the scene using the precise SNCH algorithm and roughly voxelize the non-critical parts so they can be tested differently to achieve higher speeds in runtime or in preprocessing. The system supports 6-DoF haptic devices and uses virtual coupling and physical simulation of the haptic tools to improve haptic interaction.
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