GPU based detection and mapping of collisions for haptic rendering in Immersive Virtual Reality

We present a method that maps collisions on a dynamic deformable virtual character designed to be used for tactile haptic rendering in Immersive Virtual Reality (IVR). Our method computes exact intersections by relying on the use of programmable graphics hardware. Based on interference tests between deformable meshes (an avatar controlled by a human participant) and a few hundred collider objects, our method gives coherent haptic feedback to the participant. We use GPU textures to map surface regions of the avatar to haptic actuators. We illustrate our approach by using a vest composed of vibrators for haptic rendering and we show that our method achieves collision detection at rates well over 1kHz on good quality deformable avatar meshes which makes our method suitable for video games and virtual training applications.