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Integration of a Haptic Rendering Algorithm Based on Voxelized and Point-Sampled Structures into the Physics Engine Bullet

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/
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:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Sagardia, MikelMikel.Sagardia (at) dlr.deUNSPECIFIED
Stouraitis, Theodorostheodoros.stouraitis (at) dlr.deUNSPECIFIED
Lopes e Silva, Joaojpedro.e.silva (at) gmail.comUNSPECIFIED
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 Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben on Orbit Servicing
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:31 Jul 2019 19:46

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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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