Haptic Rendering of NURBS

Models

David Johnson
Virtual Prototyping Project
School of Computing
University of Utah
www.cs.utah.edu/~dejohnso

IMA Haptics Workshop - David Johnson - Univ. of Utah

Sample Design Pipeline

Clay
model is
modified

IMA Haptics Workshop - David Johnson - Univ. of Utah

Motivation -Virtual Prototyping
• Replace physical prototypes with digital
ones.
• Allow human interaction with virtual
models.
• Test
– aesthetics
– assembility
– ergonomics

IMA Haptics Workshop - David Johnson - Univ. of Utah

 Approach
• Add sense of touch
to virtual prototyping
system.
• Avoid conflicting
cues between visual
and haptic senses.
• Leverage innate
human talents at
manipulation.

IMA Haptics Workshop - David Johnson - Univ. of Utah

 Computing Haptic Forces

• Approximate complicated surface

deformation with a wall model
• Force proportional to penetration depth

IMA Haptics Workshop - David Johnson - Univ. of Utah

 Local vs Global Closest Point
Why do we want to track the local closest pt?
Desired
Local penetration
depth Global
closest
closest
point
point

Previous
position

IMA Haptics Workshop - David Johnson - Univ. of Utah

Background - Surface Rep

• Choice of surface representation

– Intermediate
– Polygonal
– Implicit
– Voxel
– NURBS

IMA Haptics Workshop - David Johnson - Univ. of Utah

 NURBS Representation
• Same as used in CAD
– avoid translation
• Compact storage
• Exact (assembly)
• Thompson ‘97,
Johnson ‘98, ‘99,
Stewart and Buttulo ‘97

IMA Haptics Workshop - David Johnson - Univ. of Utah

 NURBS Surfaces

Control mesh

Control point

IMA Haptics Workshop - David Johnson - Univ. of Utah

 NURBS Background
• Piecewise-polynomials of two variables
• Control mesh weights the basis
functions
• Refinement adds DOFs to surface

IMA Haptics Workshop - David Johnson - Univ. of Utah

 Trimmed NURBS Models
• Defined in parametric domain
• Directed closed polygon
• Loops Parametric Domain Surfaces
• Edges
• Segments

IMA Haptics Workshop - David Johnson - Univ. of Utah

 Multi-stage process

• Three stages
– Proximity
– Local Tracking
– Contact
• Helps manage overall scene complexity

IMA Haptics Workshop - David Johnson - Univ. of Utah

 Global Minimum Distance
Framework
• Use a hierarchical refinement method
(LUB-tree)
– completely stable
– reasonable speed (20-100 Hz)
• Experimenting with local methods
– 1000 Hz for point to trimmed model
– Some stability concerns

IMA Haptics Workshop - David Johnson - Univ. of Utah

 LUB-Tree Framework
• LUB-Tree
– Bounding hierarchy
– Establish upper bound on minimum
distance
– Measure lower bound for current bounding
volumes
– Prune away impossible areas
– Refine

IMA Haptics Workshop - David Johnson - Univ. of Utah

 LUB-Tree: Example
• Bounding volumes around model

IMA Haptics Workshop - David Johnson - Univ. of Utah

 LUB-Tree: Example
• Establish upper bound on minimum
distance

IMA Haptics Workshop - David Johnson - Univ. of Utah

 LUB-Tree: Example
• Measure lower bound for current
bounding volumes

IMA Haptics Workshop - David Johnson - Univ. of Utah

 LUB-Tree: Example
• Prune regions further away than the
upper bound

IMA Haptics Workshop - David Johnson - Univ. of Utah

 LUB-Tree: Example
• Refine remaining regions
• Repeat

IMA Haptics Workshop - David Johnson - Univ. of Utah

 LUB-Tree: NURBS

• Apply
polygonal
style method
to NURBS
models

IMA Haptics Workshop - David Johnson - Univ. of Utah

 LUB-Tree: NURBS
• Refinement
– Group remaining polynomial pieces
– Extract
– Refine

IMA Haptics Workshop - David Johnson - Univ. of Utah

 Time-critical Properties
• Upper and lower bounds found quickly

IMA Haptics Workshop - David Johnson - Univ. of Utah

 Local Tracking

• Initialized by global method

• Local methods
– faster
– give the desired behavior

IMA Haptics Workshop - David Johnson - Univ. of Utah

 Direct Parametric Tracking
(DPT)

Initial State Movement Project Compute

parametric
change and new
surface position

IMA Haptics Workshop - David Johnson - Univ. of Utah

 DPT derivation for a curve
• B-spline curve

• Velocity curve relates movement along

curve to change in parameter

or

IMA Haptics Workshop - David Johnson - Univ. of Utah

 DPT derivation (cont.)
• Use linear approximation

• Tangents are efficiently evaluated

IMA Haptics Workshop - David Johnson - Univ. of Utah

 DPT derivation (cont.)
• All together

 ,  Pi 1  Pi   ui  k  ui 1 
u   .
Pi 1  Pi
2
 k 1 

• 1000’s of Hz
• Pretty reliable

IMA Haptics Workshop - David Johnson - Univ. of Utah

 Higher-order tracking
• Orthogonal to tangents P

( S (u , v)  P )  Su  0
F
( S (u , v)  P )  Sv  0 S

• Multidimensional Newton’s method

J  x  F

 u [(S  P)  Su ]  [( S  P )  S ] u
v u   ( S  P )  S u 
 
 [( S  P )  S ]  v 
  
 u [(S  P)  Sv ] v v     ( S  P )  S v

IMA Haptics Workshop - David Johnson - Univ. of Utah

 Haptic “Philosophy”

• Coherence can save you!

• Perform one iteration of Newton’s
method at higher rates rather than more
iterations at lower rates.

IMA Haptics Workshop - David Johnson - Univ. of Utah

 Improved stability

DPT method Higher-order method

IMA Haptics Workshop - David Johnson - Univ. of Utah

 Dealing with Trimming Loops
• Brute force approach not feasible
• Grid approach
– Boundary on
bounding box
– Walk algorithm

IMA Haptics Workshop - David Johnson - Univ. of Utah

 Grid Data
• Goblet  Gear  Crank Shaft
– 3 surfaces  22 surfaces  73 surfaces
– 254 segs  1256 segs  412 segs
– 13 max  15 max  36 max
– 3 mean  4 mean  4 mean
– 89% empty  92% empty  89% empty

IMA Haptics Workshop - David Johnson - Univ. of Utah

 Current Projects
• Develop systems of equations for two
models
– minimum distance
– penetration depth

Nelson, D, Johnson, D., and Cohen, E., "Haptic

Rendering of Surface-to-Surface Sculpted Model
Interaction," in Proc. 8th Annual Symp. on Haptic
Interfaces for Virtual Environment and Teleoperator
Systems, (Nashville, TN), ASME, November 1999.

IMA Haptics Workshop - David Johnson - Univ. of Utah

 Current Projects
• Apply concepts from
NURBS local tracking
back to polygonal models normal cone eye
• Encapsulate directional
information in data
structure view cone
• Prune based on
orientation, not spatial
bounds

IMA Haptics Workshop - David Johnson - Univ. of Utah

Local minimum distance

Sphere Holes3 Small bunny Large bunny

# triangles 32,700 11,800 10,800 69,500
Time (ms) 0.06 0.05 0.1 0.2

IMA Haptics Workshop - David Johnson - Univ. of Utah

 Local minimum distance
• Also for model-model distance

IMA Haptics Workshop - David Johnson - Univ. of Utah

 Acknowledgements

• Tom Thompson, John Hollerbach, and

Donald Nelson provided some material
for slides.
• Sponsored by NSF

IMA Haptics Workshop - David Johnson - Univ. of Utah