Six-Degree-of-Freedom Haptic Rendering Using Incremental and Localized Computations

We present a novel six-degree-of-freedom haptic rendering algorithm using incremental and localized contact computations. It uses an incremental approach for contact and force computations and takes advantage of spatial and temporal coherence between successive frames. As part of a preprocess, we decompose the surface of each polyhedron into convex pieces and construct bounding volume hierarchies ..