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Virtual Reality Conference, IEEE (2006)
Alexandria, Virginia
Mar. 25, 2006 to Mar. 29, 2006
ISSN: 1087-8270
ISBN: 1-4244-0224-7
pp: 191-198
Michael Ortega , i3D-INRIA, PSA Peugeot Citroen, France
Stephane Redon , i3D-INRIA, PSA Peugeot Citroen, France
Sabine Coquillart , i3D-INRIA, PSA Peugeot Citroen, France
ABSTRACT
This paper describes a generalization of the god-object method for haptic interaction between rigid bodies. Our approach separates the computation of the motion of the six degree-of-freedom god-object from the computation of the force applied to the user. The motion of the god-object is computed using continuous collision detection and constraint-based quasi-statics, which enables high-quality haptic interaction between contacting rigid bodies. The force applied to the user is computed using a novel constraint-based quasi-static approach, which allows us to suppress force artifacts typically found in previous methods. Our approach has been implemented on a 3.2 GHz Xeon bi-processor and has been successfully tested on complex benchmarks. Our results show that the separation into asynchronous processes allows us to satisfy the different update rates required by the haptic and the visual displays. The constraint-based force applied to the user, which handles any number of simultaneous contact points, is typically computed within a few microseconds, while the update of the configuration of the rigid god-object is performed within a few milliseconds for rigid bodies containing up to tens of thousands of triangles.
INDEX TERMS
Haptics, God-Object, Six degrees of freedom, Rigid bodies, Constraint-based quasi-statics
CITATION

M. Ortega, S. Coquillart and S. Redon, "A Six Degree-of-Freedom God-Object Method for Haptic Display of Rigid Bodies," IEEE Virtual Reality Conference (VR 2006)(VR), Alexandria, VA, USA, 2006, pp. 191-198.
doi:10.1109/VR.2006.18
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