Patent ID: 7191104
Filing Date: 2007-03-13
Classification: A63F,G06F,G06T

Abstract:
1. A system of real-time collision detection and rendering between solid geometric objects within a geometric model comprising: a computer system, wherein said computer system includes a memory, a processor, a user input device and a display device; at least one computer-generated geometric model stored in the memory of said computer system wherein the geometric model includes a solid geometric model of a non-deformable object that is stationary, and a solid geometric model of a non-deformable object that is movable; a haptic device operatively in communication with said computer system, wherein said haptic device includes a haptic end effector for transmitting information between a user and said geometric model; an executable collision detection and rendering software program associated with said computer system, wherein a solid geometric object that is in motion from said geometric model is represented as a point cloud that includes a polygon of points and the motion of the point cloud is controlled by a haptic device at a grasp point on the point cloud, and another solid geometric object that is stationary from said geometric model is represented as a mesh, and the mesh is partitioned into an organized data structure, a collision set is identified by selecting actively colliding points from the moving point cloud that do not include the grasp point, that penetrate the stationary mesh, a constraint set is identified by selecting a predetermined number of points from the collision set and the constraint set does not include the grasp point, the constraint set is used to identify a type of collision between the moving object and the stationary object and render the collision by rotating and translating a position of the colliding solid object using the haptic device until none of the points in the constraint set penetrate into the partitioned mesh of the stationary solid object, and force and torque feedback is provided to the user through said haptic device relative to a change in the position of the moving solid object with respect to the stationary solid object to render the collision.