Methods and apparatus for detecting and correcting penetration between objects
AssigneeMassachusetts Institute of Technology
InventorsKrishnan Sriram, Sanjay E. Sarma
Life of this patent
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Abstract
A method of collision detection is provided that allows for virtual objects having arbitrary shapes to be simulated with six degrees of freedom. The collision detection method is capable of providing full body contact by detecting each intersection between a representation of a first virtual object and a representation of a second virtual object. The full-body contact may be provided as haptic rendering signals indicating the full-body contact between the two virtual objects.
Claims117
A method of determining a depth of penetration of a first object and a second object, the method comprising acts of:
- constructing a first representation of the first object and a second representation of the second object, the second representation defining at least a surface of the second object;
- determining at least an original Voronoi diagram of the second representation;
- detecting at least one intersection between the first representation and the second representation;
- and
- determining a distance from the at least one point of intersection to the surface of the second object based on a location of the at least one point of intersection within the original Voronoi diagram.
In a virtual environment including a haptic interface device having a controlled portion moveable with six degrees of freedom, a method of simulating an interaction between a controlled object and an independent object with six degrees of freedom, the method comprising acts of:
- receiving control signals from the interface device, the control signals including pose information with six degrees of freedom;
- updating a first representation of the controlled object according to the pose information;
- determining a presence or an absence of intersection between the first representation of the controlled object and a second representation of the independent object;
- and
- computing at least one haptic rendering signal related to the presence or absence of intersection between the first representation and the second representation.
A method of providing full-body contact between a first object and a second object, the method including acts of:
- representing a first object by a first representation including a first set of primitives and a second object by a second representation including a second set of primitives;
- detecting a presence or an absence of an intersection between each of the first set of primitives and the second set of primitives;
- determining at least one penetration vector for each present intersection;
- and
- computing at least one synthesized vector from the at least one penetration vector, the at least one synthesized vector having at least one translational force component and at least one rotational force component.
A computer readable medium encoded with a program for execution on at least one processor, the program, when executed on the at least one processor, performs a method for determining an extent of an intersection between a first object and a second object, the method comprising acts of:
- constructing a first representation of the first object and a second representation of the second object, the second representation defining at least a surface of the second object;
- determining at least an original Voronoi diagram of the second representation;
- detecting at least one intersection between the first representation and the second representation;
- determining a distance from the at least one point of intersection to the surface of the second object based on a location of the at least one point of intersection within the original Voronoi diagram.
A computer readable medium encoded with a program for execution on at least one processor, the program, when executed on the at least one processor, performing, in a virtual environment including a haptic interface device having a controlled portion moveable with six degrees of freedom, a method of simulating an interaction between a controlled object and an independent object with six degrees of freedom, the method comprising acts of:
- receiving control signals from the interface device, the control signals including pose information with six degrees of freedom;
- updating a first representation of the controlled object according to the pose information;
- determining a presence or an absence of intersection between the first representation of the controlled object and a second representation of the independent object;
- computing at least one rendering signal related to the presence or absence of intersection between the first representation and the second representation.
A computer readable medium encoded with a program for execution on at least one processor, the program, when executed on the at least one processor, performing a method of providing full-body contact between a first object and a second object, the method comprising acts of:
- representing a first object by a first representation including a first set of primitives and a second object by a second representation including a second set of primitives;
- detecting a presence or an absence of an intersection between each of the first set of primitives and the second set of primitives;
- determining at least one penetration vector for each present intersection;
- and
- computing at least one synthesized vector from the at least one penetration vector, the at least one synthesized vector having at least one translational force component and at least one rotational force component.
Dependencies are inferred from the claim text.