The local property allows them to run at an update rate in excess of 10kHz. Trace Well-defined Finger Penetration, using the velocity method. Newton-Iterative problems during penetration. Newton-Iteration with cross products has worse problems. Reformulated Newton method solves the penetration irregularities.
Virtual proxies are important in the penetrating case.
The maximal distance is required by the haptics tracing algorithm. The manipulation performance of large models is also a concern in this work. Our optimization method is organized around graph-theoretic results from the mechanical engineering community. 8th Annual Symp. 6th Annual Symp.