• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.9 no.3
• /
• pp.717-720
• /
• 2008

This paper studies a collision detection technique to dealing with moving polyhedra. Even though the problem is well-studied in computer graphics, the existing methods are inapplicable to highly dynamic environments. We use the GJK algorithm to determine collisions between convex objects. Also, our method is applied for moving objects.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2003.06a
• /
• pp.992-995
• /
• 2003

A haptic device operated by the user's hand can receive information on position and orientation of the hand and display force and moment generated in the virtual environment to the hand. For realistic haptic display, the detailed information on collision between objects is necessary. In the past, the point-based graphic environment has been used in which the end effector of a haptic device was represented as a point and the interaction of this point with the virtual environment was investigated. In this paper, the shape-based graphic environment is proposed in which the interaction of the shape with the environment is considered to analyze collision or contact more accurately. To this end. the so-called Gilbert-Johnson-Keerthi (GJK) algorithm is adopted to compute collision points and collision instants between two shapes in the 3-D space. The 5- DOF haptic hand controller is used with the GJK algorithm to demonstrate a peg-in-hole operation in the virtual environment in conjunction with a haptic device. It is shown from various experiments that the shape-based representation with the GJK algorithm can provide more realistic haptic display for peg-in-hole operations.