Improving haptic rendering of complex scenes using spatial partitioning

Abstract

Most haptic API's cannot efficiently render complex scenes. This paper presents two techniques that can reduce the time needed to haptically render a complex scene : a technique based on a spatial grid and a technique based on a modification of an octtree. These techniques are both theoretically and experimentally compared with each other and the default algorithm used in e-Touch. These results are discussedin order to draw conclusions on the best technique for a given scene.