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박상철(S.C. Park),최정주(J.J. Choi),김천영(C.Y. Kim),지철규(C.K. Ji),오지웅(J.W. Oh),조강훈(K.H. Jo),유광석(K.S. Yoo) (사)한국CDE학회 2014 한국 CAD/CAM 학회 학술발표회 논문집 Vol.2014 No.2
In this paper, we implement a high-performance haptic rendering algorithm to derive a haptic device by means of a fast collision detection for high-resolution 3D models and a kinematic simulation for a multilinked body in order to represent the interaction of virtual objects that enhances the sense of immersion. We implement a fast serial collision detection algorithm that can handles meshes of more than 10,000 concave triangles. For this purpose, we develop a data conversion technique, which is free of commercial license, that can import a conventional modeling/CAD software models. We evaluate the quantitative performance analysis for various collision detection algorithms that are based on bounding volume hierarchy and space partitioning techniques. We design a data structure that contains geometry, rendering properties, and physical properties for haptic rendering purposes.