Haptic Rendering of NURBS Models

Sample Design Pipeline

Motivation -Virtual Prototyping

Approach

Computing Haptic Forces

Local vs Global Closest Point

Background - Surface Rep

NURBS Representation

NURBS Surfaces

NURBS Background

Trimmed NURBS Models

Multi-stage process

Global Minimum Distance Framework

LUB-Tree Framework

LUB-Tree: Example

LUB-Tree: Example

LUB-Tree: Example

LUB-Tree: Example

LUB-Tree: Example

LUB-Tree: NURBS

LUB-Tree: NURBS

Time-critical Properties

Local Tracking

Direct Parametric Tracking (DPT)

DPT derivation for a curve

DPT derivation (cont.)

DPT derivation (cont.)

Higher-order tracking

Haptic “Philosophy”

Improved stability

Dealing with Trimming Loops

Grid Data

Current Projects

Current Projects

Local minimum distance

Local minimum distance

Acknowledgements