ABSTRACT

Collision detection is the first step in displaying force and torque between two 3D virtual objects in 6-DOF haptic rendering. As presented in Chapter 9, the problem of collision detection has been largely explored in the fields of computational geometry, robotics, or physically-based animation. However, it remains a challenge to detect intersections or compute proximity and distance information between geometrically complex models in complex contact configurations at the update rates required by haptic rendering.