We present a novel six-degree-of-freedom haptic rendering algorithm using incremental and localized contact computations. It uses an incremental approach for contact and force computations and takes advantage of spatial and temporal coherence between successive frames. As part of a preprocess, we decompose the surface of each polyhedron into convex pieces and construct bounding volume hierarchi...

Bounding volumes are used in computer graphics to approximate the actual geometric shape of an object in a scene. The main intention is to reduce the costs associated with visibility or interference tests. The bounding volumes most commonly used have been axis-aligned bounding boxes and bounding spheres. In this paper, we propose the use of discrete orientation polytopes (k-dops) as bounding vo...

Using the GPU to accelerate ray tracing may seem like a natural decision due to the highly parallel nature of the problem. However, past attempts at a fully general GPU ray tracer have yielded poor performance compared to optimized CPU ray tracers. In this paper we instead focus on an algorithm for quick intersection of a single mesh on the GPU. The algorithm uses a threaded bounding volume hie...

Using Projection to accelerate Ray Tracing Anastasia Bezerianos M.Sc. Graduate Department of Computer Science University of Toronto 2001 The high cost of Ray Tracing image rendering has driven many researchers to devise acceleration techniques like bounding volume hierarchies. This thesis introduces new ways of building bounding volume hierarchies. We modify existing algorithms to use bounding ...

Large, complex 3D scenes are best rendered in an output-sensitive way, i.e., in time largely independent of the entire scene model’s complexity. Occlusion culling is one of the key techniques for output-sensitive rendering. We generalize existing occlusion culling algorithms, intended for static scenes, to handle dynamic scenes having numerous moving objects. The data structure used by an occlu...

We present a new collision detection algorithm to perform contact computations between noisy point cloud data. Our approach takes into account the uncertainty that arises due to discretization error and noise, and formulates collision checking as a two-class classification problem. We use techniques from machine learning to compute the collision probability for each point in the input data and ...

We present “contact levels of detail” (CLOD), a novel concept for multiresolution collision detection. Given a polyhedral model, our algorithm automatically builds a “dual hierarchy”, both a multiresolution representation of the original model and its bounding volume hierarchy for accelerating collision queries. We have proposed various error metrics, including object-space errors, velocity dep...

We present new distance computation algorithms using hierarchies of rectangular swept spheres. Each bounding volume of the tree is described as the Minkowski sum of a rectangle and a sphere, and fits tightly to the underlying geometry. We present accurate and efficient algorithms to build the hierarchies and perform distance queries between the bounding volumes. We also present traversal techni...

Hierarchical data structures have been widely used to design e cient algorithms for interference detection for robot motion planning and physically-based modeling applications. Most of the hierarchies involve use of bounding volumes which enclose the underlying geometry. These bounding volumes are used to test for interference or compute distance bounds between the underlying geometry. The e ci...