Haptic rendering of volumetric soft-bodies objects
First Claim
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.
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Abstract
Haptic rendering of three-dimensional soft bodied objects for virtual interactions implemented by forming a three dimensional occupancy map of voxels, forming the surface of and bounding an object, forming a multi-dimensional coordinate system, defining minimum and maximums distances of one voxel neighboring voxels 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 adjusting to satisfy minimum and maximum for distance and offsets, and repeating the detecting and adjustment steps for the entire occupancy map until there are essentially no violations.
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Citations
8 Claims
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1. A process for haptic rendering of three-dimensional soft bodied objects for virtual interactions comprising the steps of:
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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. - View Dependent Claims (2, 3, 4, 6, 7, 8)
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5. An apparatus for haptic rendering of three-dimensional soft bodied objects for virtual interactions comprising in combination:
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means for forming a three dimensional occupancy map of voxels, forming the surface and bound the object;
means for forming a multi-dimensional coordinate system for each point, the coordinate system defining a vertex center;
means for defining minimum and maximums distances of one voxel to all its neighboring voxels (occupied neighbor points);
means for defining multi-dimensional maximum offsets that an occupied point can maintain relative to its center;
means for detecting when the minimums or maximums of distance and/or offsets are violated, and in response thereto means for 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; and
means for 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 for delivering that force in size and direction via a haptic device; and
wherein the detecting means and moving means are capable of repeating the detecting and moving steps for the entire occupancy map until there are no violations.
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Specification