Haptic Rendering For Internal Content Of An Implicit Object
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The haptic rendering algorithms for object with implicit surface representation are proposed. The basic rendering algorithm for a regular two-dimensional manifold is used to represent a solid volumetric object. For applications where information about the internal content of an object is concerned, the haptic rendering algorithm for internal content of an implicit object is developed. The proposed algorithm is derived from the concept of state transition via 'port' using manifold with boundary representation. Manifold with boundary is constructed from implicit primitives. The advantage of implicit surface representation in haptic applications has been emphasized. Both algorithms were successfully implemented in the haptic interface system and were applied to various implicit models.