• 한국산학기술학회논문지
• /
• 제9권3호
• /
• pp.717-720
• /
• 2008

본 연구의 목적은 컴퓨터 그래픽스 상에서 움직이는 다면체간의 충돌을 탐지하는 데 있다. 지금까지 컴퓨터 그래픽스 분야에서 이와 관련된 많은 연구들이 수행되었으나 대부분 다이내믹한 환경에는 적절치 못했다. 본 연구를 통해 GJK 알고리즘을 기반으로 하여 움직이는 다면체간의 충돌 탐지에 적합한 방법을 제안하고자 한다.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2003년도 춘계학술대회 논문집
• /
• 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.