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Method of real time collision detection between geometric models

  • US 6,873,944 B1
  • Filed: 10/11/2000
  • Issued: 03/29/2005
  • Est. Priority Date: 10/11/2000
  • Status: Active Grant
First Claim
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1. A method of real time collision detection between geometric models comprising the steps of:

  • providing a force feedback device;

    providing a computer system operatively connected to the force feedback device;

    identifying a current tracking point of the force feedback device representing a first geometric model colliding with a mesh model of a second geometric model and identifying a current triangle associated with the current tracking point;

    determining a new tracking point of the force feedback device relative to the mesh model by approximating the new tracking point from the current tracking point and the current triangle;

    determining a state of the new tracking point using the new tracking point and the state of the previous tracking point, wherein the state is inside, on an edge or on a vertex of either the current triangle or a new triangle;

    using the state of the new tracking point to determine if a predetermined condition is met to conclude that the new tracking point is on the current triangle or if another predetermined condition is met to conclude that the new tracking point crossed to a new triangle, wherein the new triangle is connectively associated with the current triangle;

    determining a contact force between the first geometric model and the second geometric model; and

    concluding a collision between the first geometric model and the second geometric model if the contact force is greater than zero.

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