We present a haptic workspace that allows high fidelity two-handed
multi-user interactions in scenarios containing a large number of
dynamically simulated rigid objects and a polygon count that is
only limited by the capabilities of the graphics card.
The main challenge when doing haptic rendering is the extremely
high frequency that is required: While the temporal resolution of
the human eye is limited to approximately 30 Hz, the bandwidth of
the human tactile system is about 1000 Hz. In most haptic scenarios,
the computational bottleneck remains the collision detection,
whereas the force computation can be done relatively fast.
Thus, the heart of our haptic workspace is our new geometric data
structure, called Inner Sphere Trees (ISTs), that not only allows us
to detect collisions between pairs of massive objects at haptic rates
but also enables us to define a novel type of contact information that
guarantees stable forces and torques.
For further informations please visit our project website at http://cg.in.tu-clausthal.de
TU Clausthal, 17.3.2010