高度复杂拟凸体的实时触觉绘制  

Real-Time Haptic Rendering of Highly Complex Quasi-convex Objects

作　　者：韩晓霞[1] 万华根[2] 周智华[2] 

机构地区：[1]浙江大学信息科学与工程学院,杭州310027 [2]浙江大学CAD&CG国家重点实验室,杭州310027

出　　处：《计算机辅助设计与图形学学报》2009年第1期60-66,共7页Journal of Computer-Aided Design & Computer Graphics

基　　金：国家"八六三"高技术研究发展计划(2006AA01Z130);国家自然科学基金(60673197);国家"九七三"重点基础研究发展计划项目(2002CB312103)

摘　　要：触觉绘制目前已成为虚拟现实的研究热点之一,其核心是触觉代理与目标物体的实时碰撞检测与距离计算,对高度复杂模型的触觉绘制仍然是虚拟现实领域的难题,原因是对模型复杂度敏感的算法均不能满足触觉绘制苛刻的时间要求.提出触觉包围盒概念,并针对拟凸体提出一种基于触觉包围盒的实时触觉绘制算法.触觉包围盒记录了离散的采样光线与目标物体的相交信息,进行触觉计算时,只需要执行1次线段与包围盒求交运算和5次双线性插值运算即可高速求出碰撞信息,且所得到的碰撞信息可直接用于反馈力计算.实验结果表明,该算法不仅快速有效,而且具有与触觉绘制模型复杂度不相关的优点.Haptic rendering is a growing concern in the domain of virtual reality. However, it is a great challenge to haptically render highly complex objects in real-time since haptic rendering algorithms, which are sensitive to model complexity, cannot achieve satisfactory haptic display rate. To overcome this problem, a novel haptic-box-based real-time haptic rendering algorithm for quasi- convex objects is proposed in this work. Haptic-box encodes the intersection data of each sample directional ray with the target object. With haptie-box, the contact information between a line segment and the target object can be derived by a single intersection test and 5 bilinear interpolations, and can be directly used to evaluate the feedback force. Experimental results show that the proposed algorithm is insensitive to model complexity and works both effectively and efficiently.

关 键 词：触觉绘制 碰撞检测 触觉包围盒 拟凸体 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]