Abstract We present an intuitive system,inTouch, for interactively editing and painting a polygonal mesh using a force‐feedback device. An artist or a designer can use this system to create and refine a three‐dimensional multi‐resolution polygonal mesh. The appearance can be further enhanced by directly painting onto its surface. The system allows users to naturally create complex forms and patterns aided not only by visual feedback but also by their sense of touch. Copyright © 2001 John Wiley & Sons, Ltd.

We present an algorithm for haptic display of moderately complex polygonal models with a six degree of freedom (DOF) force feedback device. We make use of incremental algorithms for contact determination between convex primitives. The resulting contact information is used for calculating the restoring forces and torques and thereby used to generate a sense of virtual touch. To speed up the computation, our approach exploits a combination of geometric locality, temporal coherence, and predictive methods to compute object-object contacts at kHz rates. The algorithm has been implemented and interfaced with a 6-DOF PHANToM Premium 1.5. We demonstrate its performance on force display of the mechanical interaction between moderately complex geometric structures that can be decomposed into convex primitives.

We present an intuitive 3D interface for interactively editing and painting a polygonal mesh using a force feedback device. An artist or a designer can use the system to create and refine a three-dimensional multiresolution polygonal mesh. Its appearance can be further enhanced by directly painting onto its surface. The system allows users to naturally create complex forms and patterns not only aided by visual feedback, but also by their sense of touch.

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We present a framework for fast and accurate collision detection for haptic interaction with polygonal models. Given a model, we pre-compute a hybrid hierarchical representation, consisting of uniform grids and trees of tight-fitting oriented bounding box trees (OBB-Trees). At run time, we use hybrid hierarchical representations and exploit frame-to-frame coherence for fast proximity queries. We describe a new overlap test, which is specialized for intersection of a line segment with an oriented bounding box for haptic simulation and takes 6-36 operations excluding transformation costs. The algorithms have been implemented as part of H-COLLIDE and interfaced with a PHANToM arm and its haptic toolkit, GHOST, and applied to a number of models. As compared to the commercial implementation, we are able to achieve up to 20 times speedup in our experiments and sustain update rates over 1000 Hz on a 400 MHz Pentium II.

Presents a new approach for establishing correspondence between two homeomorphic 3D polyhedral models. The user can specify corresponding feature pairs on the polyhedra with a simple and intuitive interface. Based on these features, our algorithm decomposes the boundary of each polyhedron into the same number of morphing patches. A 2D mapping for each morphing patch is computed in order to merge the topologies of the polyhedra one patch at a time. We create a morph by defining morphing trajectories between the feature pairs and by interpolating them across the merged polyhedron. The user interface provides high-level control as well as local refinement to improve the morph. The implementation has been applied to several complex polyhedra composed of thousands of polygons. The system can also handle non-simple polyhedra that have holes.