Abstract
In this chapter, we present our novel geometric data structure, the Inner Sphere Trees. It is the first data structure that is able to compute the penetration volume between a pair of colliding objects at haptic rates. This new contact information guarantees physically-plausible and continuous forces and torques for a stable collision response that is essential for stable haptic rendering. Moreover, we propose a new clustering-based algorithm for creating bounding volume hierarchies and a time-critical traversal scheme for time-budgeted collision detection scenarios.
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- 1.
However, also this is not really necessary. In the future, we plan to move also the smallest enclosing sphere computation to the GPU. Then we only have to read back the whole hierarchy once.
- 2.
Please visit http://cgvr.informatik.uni-bremen.de/research/ist to watch some videos of our benchmarks.
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Weller, R. (2013). Inner Sphere Trees. In: New Geometric Data Structures for Collision Detection and Haptics. Springer Series on Touch and Haptic Systems. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-01020-5_5
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