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Sagardia, Mikel and Stouraitis, Theodoros and Lopes e Silva, Joao (2014) Integration of a Haptic Rendering Algorithm Based on Voxelized and Point-Sampled Structures into the Physics Engine Bullet. In: IEEE 3D User Interfaces 2014. IEEE 3D User Interfaces 2014, 29.-30. März 2014, Minneapolis, USA.
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Abstract
We present the evaluation of a haptic rendering algorithm based on the Voxmap-Pointshell algorithm which was integrated in the physics engine Bullet. Our algorithm uses voxelized distance fields and multi-resolution point-sampled representations and it is able to compute collision forces between arbitrary complex bodies at 1 kHz. Current experiments show that the integrated algorithm outperforms standard collision detection engines in Bullet in terms of speed if high resolutions and accuracies are required, enabling physically more realistic behaviors.
| Item URL in elib: | https://elib.dlr.de/89582/ | ||||||||||||
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| Document Type: | Conference or Workshop Item (Poster) | ||||||||||||
| Title: | Integration of a Haptic Rendering Algorithm Based on Voxelized and Point-Sampled Structures into the Physics Engine Bullet | ||||||||||||
| Authors: |
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| Date: | March 2014 | ||||||||||||
| Journal or Publication Title: | IEEE 3D User Interfaces 2014 | ||||||||||||
| Refereed publication: | Yes | ||||||||||||
| Open Access: | Yes | ||||||||||||
| Gold Open Access: | No | ||||||||||||
| In SCOPUS: | No | ||||||||||||
| In ISI Web of Science: | No | ||||||||||||
| Status: | Published | ||||||||||||
| Keywords: | Computational Geometry, Object Modeling, Geometric algorithms, Object hierarchies, Three-Dimensional Graphics and Realism, Animation, Virtual reality | ||||||||||||
| Event Title: | IEEE 3D User Interfaces 2014 | ||||||||||||
| Event Location: | Minneapolis, USA | ||||||||||||
| Event Type: | international Conference | ||||||||||||
| Event Dates: | 29.-30. März 2014 | ||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||
| HGF - Program: | Space | ||||||||||||
| HGF - Program Themes: | Space System Technology | ||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||
| DLR - Research theme (Project): | R - On-Orbit Servicing [SY] | ||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation | ||||||||||||
| Deposited By: | Sagardia, Mikel | ||||||||||||
| Deposited On: | 19 Dec 2014 13:53 | ||||||||||||
| Last Modified: | 29 Mar 2023 00:19 |
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- Integration of a Haptic Rendering Algorithm Based on Voxelized and Point-Sampled Structures into the Physics Engine Bullet. (deposited 19 Dec 2014 13:53) [Currently Displayed]
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