Patent ID: 6839663
Filing Date: 2005-01-04
Classification: G06T

Abstract:
1. A process for haptic rendering of three-dimensional soft bodied objects for virtual interactions comprising the steps of: forming a three dimensional occupancy map of voxels, forming the surface and bound the object; forming a multi-dimensional coordinate system for each point, the coordinate system defining a vertex center; defining minimum and maximums distances of one voxel to all its neighboring voxels (occupied neighbor points); defining multi-dimensional maximum offsets that an occupied point can maintain relative to its center; detecting when the minimums or maximums of distance and/or offsets are violated, and in response thereto moving the points in violation to locations relative to the neighboring occupied points and the points' centers that satisfy the minimum and maximum for distance and offsets; determining, from the relative moving of the points and the offsets from the center for each point, the direction and size of the force of the colliding bodies; and delivering that force in size and direction via a haptic device; and repeating the detecting and moving steps for the entire occupancy map until there are essentially no violations.