A unified approach for physically-based simulations and haptic rendering

  title={A unified approach for physically-based simulations and haptic rendering},
  author={Ren{\'e} Weller and Gabriel Zachmann},
  booktitle={Sandbox '09},
Based on our new geometric data structure, the inner sphere trees, we present fast and stable algorithms for different kinds of collision detection queries between rigid objects at haptic rates. Namely, proximity queries and the penetration volume, which is related to the water displacement of the overlapping region and thus corresponds to a physically motivated force. The latter allows us to define a novel penalty-based collision response scheme that provides continuous forces and torques… CONTINUE READING
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