RENDERING

Abstract: In this paper we present a survey of algorithms for collision detec-tion between solid geometric models. Our particular focus is on the categori-zation and evaluation of the algorithms with respect to their suitability for six degree-of-freedom haptic rendering. As haptic rendering loop update rates are very demanding, collision detection performance is a crucial factor. For haptic feedback, collisions not only need to be detected, but the algorithms must provide suitable information for appropriate collision response han-dling