Project 02 Collision Detection

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Project 02 Collision Detection

• 20052620 VRLab
• ???

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Content

• Implementation
• File loader
• Integration RAPID into Open Haptics
• Performance Evaluation
• Environment
• Experimental setup
• Results
• Conclusion

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Wave Front OBJ File Loader

• Simple, widely used

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Rapid Integration

• Simple easy
• Adding RAPID project to solution file

Preprocessing interface of RAPID
Runtime interface of RAPID
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Rapid Integration

• Visualization of collided faces

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Performance Evaluation - Experimental Environment

• Hardware
• Intel Pentium 4 CPU 3.20GHZ, 1.00 GB RAM
• NVIDIA GeForce FX 5900
• Sensable Phantom Omni
• Software
• Windows XP SP2 32bit
• Microsoft Visual Studio .NET 2003
• Compiled under maximize speed optimization

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Performance Evaluation- Experimental Setup

• Simple collisions
• Simply, a pair of models collide each other.

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Performance Evaluation- Experimental Setup

• Series of Collisions
• Designed for finding relation between number of
  polygons and collision detection time

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Performance Evaluation- Results

• Simple collision - single contact

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Performance Evaluation- Results

• Simple collision - all contacts

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Performance Evaluation- Results

• Series of Collisions
• Single contact

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Performance Evaluation- Results

• Series of Collisions
• All contacts

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Conclusion

• The RAPID library is suitable on the 3DOF haptic
  rendering

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References

• http//www.cs.unc.edu/geom/OBB/OBBT.html
• http//www-static.cc.gatech.edu/projects/large_mod
  els/