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47
Fast proximity queries with swept sphere volumes
, 1999
"... We present novel algorithms for fast proximity queries using swept sphere volumes. The set of proximity queries includes collision detection and both exact and approximate separation distance computation. We introduce a new family of bounding volumes that correspond to a core primitive shape grown ..."
Abstract

Cited by 94 (19 self)
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We present novel algorithms for fast proximity queries using swept sphere volumes. The set of proximity queries includes collision detection and both exact and approximate separation distance computation. We introduce a new family of bounding volumes that correspond to a core primitive shape grown outward by some offset. The set of core primitive shapes includes a point, line, and rectangle. This family of bounding volumes provides varying tightness of t to the underlying geometry. Furthermore, we describe efficient and accurate algorithms to perform different queries using these bounding volumes. We present a novel analysis of proximity queries that highlights the relationship between collision detection and distance computation. We also present traversal techniques for accelerating distance queries. These algorithms have been used to perform proximity queries for applications including virtual prototyping, dynamic simulation, and motion planning on complex models. As compared to earlier algorithms based on bounding volume hierarchies for separation distance and approximate distance computation, our algorithms have
Fast and Simple 2D Geometric Proximity Queries Using Graphics Hardware
, 2001
"... We present a new approach for computing generalized proximity information of arbitrary 2D objects using graphics hardware. Using multipass rendering techniques and accelerated distance computation, our algorithm performs proximity queries not only for detecting collisions, but also for computing in ..."
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Cited by 54 (11 self)
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We present a new approach for computing generalized proximity information of arbitrary 2D objects using graphics hardware. Using multipass rendering techniques and accelerated distance computation, our algorithm performs proximity queries not only for detecting collisions, but also for computing intersections, separation distance, penetration depth, and contact points and normals. Our hybrid geometry and imagebased approach balances computation between the CPU and graphics subsystems. Geometric objectspace techniques coarsely localize potential intersection regions or closest features between two objects, and imagespace techniques compute the lowlevel proximity information in these regions. Most of the proximity information is derived from a distance field computed using graphics hardware. We demonstrate the performance in collision response computation for rigid and deformable body dynamics simulations. Our approach provides proximity information at interactive rates for a variet...
inTouch: Interactive Multiresolution Modeling and 3D Painting with a Haptic Interface
 PROC. OF IEEE VR CONFERENCE
, 2000
"... We present an intuitive 3D interface for interactively editing and painting a polygonal mesh using a force feedback device. An artist or a designer can use the system to create and refine a threedimensional multiresolution polygonal mesh. Its appearance can be further enhanced by directly painting ..."
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Cited by 49 (8 self)
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We present an intuitive 3D interface for interactively editing and painting a polygonal mesh using a force feedback device. An artist or a designer can use the system to create and refine a threedimensional multiresolution polygonal mesh. Its appearance can be further enhanced by directly painting onto its surface. The system allows users to naturally create complex forms and patterns not only aided by visual feedback but also by their sense of touch.
Fast Distance Queries with Rectangular Swept Sphere Volumes
 Proc. of IEEE Int. Conference on Robotics and Automation
, 2000
"... : We present new distance computation algorithms using hierarchies of rectangular swept spheres. Each bounding volume of the tree is described as the Minkowski sum of a rectangle and a sphere, and fits tightly to the underlying geometry. We present accurate and efficient algorithms to build the hier ..."
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Cited by 48 (13 self)
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: We present new distance computation algorithms using hierarchies of rectangular swept spheres. Each bounding volume of the tree is described as the Minkowski sum of a rectangle and a sphere, and fits tightly to the underlying geometry. We present accurate and efficient algorithms to build the hierarchies and perform distance queries between the bounding volumes. We also present traversal techniques for accelerating distance queries using coherence and priority directed search. These algorithms have been used to perform proximity queries for applications including virtual prototyping, dynamic simulation, and motion planning on complex models. As compared to earlier algorithms based on bounding volume hierarchies for separation distance and approximate distance computation, our algorithms have achieved significant speedups on many benchmarks. 1
Efficient Algorithms for Solving Static HamiltonJacobi Equations
, 2003
"... Consider the eikonal equation, = 1. If the initial condition is u = 0 on a manifold, then the solution u is the distance to the manifold. We present a new algorithm for solving this problem. More precisely, we present an algorithm for computing the closest point transform to an explicitly described ..."
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Cited by 48 (6 self)
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Consider the eikonal equation, = 1. If the initial condition is u = 0 on a manifold, then the solution u is the distance to the manifold. We present a new algorithm for solving this problem. More precisely, we present an algorithm for computing the closest point transform to an explicitly described manifold on a rectilinear grid in low dimensional spaces. The closest point transform finds the closest point on a manifold and the Euclidean distance to a manifold for all the points in a grid (or the grid points within a specified distance of the manifold). We consider manifolds composed of simple geometric shapes, such as, a set of points, piecewise linear curves or triangle meshes. The algorithm computes the closest point on and distance to the manifold by solving the eikonal equation = 1 by the method of characteristics. The method of characteristics is implemented efficiently with the aid of computational geometry and polygon/polyhedron scan conversion. Thus the method is named the characteristic/scan conversion algorithm. The computed distance is accurate to within machine precision. The computational complexity of the algorithm is linear in both the number of grid points and the complexity of the manifold. Thus it has optimal computational complexity. The algorithm is easily adapted to sharedmemory and distributedmemory concurrent algorithms. Many query problems...
Fast and Accurate Collision Detection for Haptic Interaction Using a Three DegreeofFreedom ForceFeedback Device
 In Proceedings of Virtual Reality Conference
"... We present a fast and accurate collision detection algorithm for haptic interaction with polygonal models. Given a model, we precompute a hybrid hierarchical representation, consisting of uniform grids (represented using a hash table) and trees of tightfitting oriented bounding box trees (OBBTrees ..."
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Cited by 39 (0 self)
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We present a fast and accurate collision detection algorithm for haptic interaction with polygonal models. Given a model, we precompute a hybrid hierarchical representation, consisting of uniform grids (represented using a hash table) and trees of tightfitting oriented bounding box trees (OBBTrees). At run time, we use hybrid hierarchical representations and exploit frametoframe coherence for fast proximity queries. We describe a new overlap test, which is specialized for intersection of a line segment with an oriented bounding box for haptic simulation and takes 4272 operations including transformation costs. The algorithms have been implemented as part of HCOLLIDE and interfaced with a PHANToM arm and its haptic toolkit, GHOST, and applied to a number of models. As compared to the commercial implementation, we are able to achieve up to 20 times speedup in our experiments and sustain update rates over 1000Hz on a 400MHz Pentium II. In practice, our prototype implementation can a...
A Fast Algorithm for Computing the Closest Point and Distance Transform
, 2000
"... This paper presents a new algorithm for computing the closest point transform to a manifold on a rectilinear grid in low dimensional spaces. The closest point transform nds the closest point on a manifold and the Euclidean distance to a manifold for all the points in a grid, (or the grid points ..."
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Cited by 35 (0 self)
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This paper presents a new algorithm for computing the closest point transform to a manifold on a rectilinear grid in low dimensional spaces. The closest point transform nds the closest point on a manifold and the Euclidean distance to a manifold for all the points in a grid, (or the grid points within a specied distance of the manifold). We consider manifolds composed of simple geometric shapes, such as, a set of points, piecewise linear curves or triangle meshes. The algorithm computes the closest point on and distance to the manifold by solving the Eikonal equation jruj = 1 by the method of characteristics. The method of characteristics is implemented eciently with the aid of computational geometry and polygon/polyhedron scan conversion. The computed distance is accurate to within machine precision. The computational complexity of the algorithm is linear in both the number of grid points and the complexity of the manifold. Thus it has optimal computational complexity. ...
Spatialized Normal Cone Hierarchies
, 2001
"... We develop a data structure, the spatialized normal cone hierarchy, and apply it to interactive solutions for model silhouette extraction, local minimum distance computations, and area light source shadow umbra and penumbra boundary determination. The latter applications extend the domain of su ..."
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Cited by 29 (5 self)
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We develop a data structure, the spatialized normal cone hierarchy, and apply it to interactive solutions for model silhouette extraction, local minimum distance computations, and area light source shadow umbra and penumbra boundary determination. The latter applications extend the domain of surface normal encapsulation from problems described by a point and a model to problems involving two models. Keywords Collision Detection, Computational Geometry, NonRealistic Rendering, Shadow Algorithms. 1
Haptic Manipulation of Virtual Mechanisms from Mechanical CAD Designs
 In Proc. of IEEE Conference on Robotics and Automation
, 1998
"... A haptic display system is presented for manipulating virtual mechanisms derived from a mechanical CAD design. Links are designed and assembled into mechanisms using Utah's Alpha_l CAD system, and are then manipulated with a Satcos Dextrous Arm Master. Based on the mechanism's kinematics and into mo ..."
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Cited by 29 (5 self)
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A haptic display system is presented for manipulating virtual mechanisms derived from a mechanical CAD design. Links are designed and assembled into mechanisms using Utah's Alpha_l CAD system, and are then manipulated with a Satcos Dextrous Arm Master. Based on the mechanism's kinematics and into motion of the mechanism and constraint violation. The operator experiences the dynamic forces from the mechanism plus constraint forces.
Haptic Rendering Of SurfaceToSurface Sculpted Model Interaction
, 1999
"... Previous work in haptics surface tracing for virtual prototyping and surface design applications has used a point model for virtual fingersurface interaction. We extend this tracing method for surfacetosurface interactions. A straightforward extension of the pointsurface formulation to surfaces ..."
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Cited by 29 (9 self)
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Previous work in haptics surface tracing for virtual prototyping and surface design applications has used a point model for virtual fingersurface interaction. We extend this tracing method for surfacetosurface interactions. A straightforward extension of the pointsurface formulation to surfacesurface can yield extraneous, undesirable solutions, although we rework the formulation to yield more satisfactory solutions. Additionally, we derive an alternative novel velocity formulation for use in a surfacesurface tracing paradigm that exhibits additional stability beyond the Newton methods. Both methods require evaluating the surface point and first and second surface partial derivatives for both surfaces, an efficient kilohertz rate computation. These methods are integrated into a three step tracking process that uses a global minimum distance method, the local Newton formulation, and the new velocity formulation. Figure 1: Wellbehaved finger penetration into a surface shown by the...