Moustakas Konstantinos, Tzovaras Dimitrios, Strintzis Michael Gerassimos
Electrical and Computer Engineering Department, Aristotle University of Thessaloniki, University Campus, Thessaloniki, Greece.
IEEE Trans Vis Comput Graph. 2007 Jan-Feb;13(1):80-93. doi: 10.1109/TVCG.2007.20.
This paper presents a novel layered and fast framework for real-time collision detection and haptic interaction in virtual environments based on superquadric virtual object modeling. An efficient algorithm is initially proposed for decomposing the complex objects into subobjects suitable for superquadric modeling, based on visual salience and curvature constraints. The distance between the superquadrics and the mesh is then projected onto the superquadric surface, thus generating a distance map (SQ-Map). Approximate collision detection is then performed by computing the analytical equations and distance maps instead of triangle per triangle intersection tests. Collision response is then calculated directly from the superquadric models and realistic smooth force feedback is obtained using analytical formulae and local smoothing on the distance map. Experimental evaluation demonstrates that SQ-Map reduces significantly the computational cost when compared to accurate collision detection methods and does not require the huge amounts of memory demanded by distance field-based methods. Finally, force feedback is calculated directly from the distance map and the superquadric formulae.
本文提出了一种基于超二次虚拟对象建模的新颖分层快速框架，用于虚拟环境中的实时碰撞检测和触觉交互。最初提出了一种高效算法，基于视觉显著性和曲率约束，将复杂对象分解为适合超二次建模的子对象。然后将超二次曲面与网格之间的距离投影到超二次曲面上，从而生成距离图（SQ-Map）。接着通过计算解析方程和距离图来执行近似碰撞检测，而不是进行逐个三角形的相交测试。然后直接从超二次模型计算碰撞响应，并使用解析公式和距离图上的局部平滑获得逼真的平滑力反馈。实验评估表明，与精确碰撞检测方法相比，SQ-Map显著降低了计算成本，并且不需要基于距离场的方法所需的大量内存。最后，直接从距离图和超二次公式计算力反馈。
