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1、Abstract - II - Abstract The rapid development and wide application of virtual reality and haptic feedback technology have promoted the innovation and development of all aspects of society. Product design based on haptic feedback has driven the development of new products, and the virtual cutting me
2、thod based on haptic feedback has attracted the attention of many researchers.This paper researched the virtual cutting of triangular grid unit model based on the haptic feedback device PHANTOM Omni and its system development toolkit. On the foundation of the basic principles of virtual cutting base
3、d on haptic feedback, we build up the virtual cutting system; set the environment of virtual cutting system and build the cube mesh model of triangle mesh unit using the counter-clockwise drawing method; research the coordinate transformation matrix for 3D data of the cutting system, and study the n
4、ormal vector of grid units. We create the oriented bounding box of virtual object model, and determine the properties of the bounding box such as center position and length for the equivalent units and the ranging units; we study the detection condition of their collision, propose the discriminant f
5、ormula, and summarize the simplify calculation method for the formula; based on PHANTOM Omni and the simplified formula of collision detection, we achieve the capture of gird nodes in the collision. As to triangular grid unit model, we research the cutting method from the side and the vertex of gird
6、 units, and put forward the cutting form under ideal condition and actual condition; propose four types of cutting path planning algorithm for triangular grid unit model based on the search of grid nodes, and discuss the solution of deformity cutting; achieve four kinds of path planning, including i
7、nfinite-slope type, zero-slope type, positive-slope type and negative-slope type. We study simplified methods for geometric model of virtual cutting tool and the discriminant formula of virtual cutting occurrence condition based on haptic feedback; put forward the 3D reconstruction method of grid su
8、rfaces including Abstract - III - front, back, top, bottom, left, and right surface in the grid model according to the cutting path planning; achieve the reconstruction of cutting grid model; and analyze the impact factor of virtual cutting based on haptic feedback. Keywords ： Haptic feedback, Trian
9、gle grid unit, Collision detection, Path planning, Virtual cutting 目 录 - IV - 目 录 摘 要 . I ABSTRACT . II 第 1 章 绪论 . 1 1.1 课题背景及研究的目的和意义 . 1 1.2 国内外在该方向的研究现状 . 2 1.2.1 触觉反馈技术的研究现状 . 2 1.2.2 虚拟模型构建的研究现状 . 3 1.2.3 碰撞检测算法的研究现状 . 5 1.2.4 虚拟切割方法的研究现状 . 6 1.3 本课题的主要研究内容 . 8 第 2 章 虚拟切割系统构建与体数据预处理 . 10 2.1 引言
10、 . 10 2.2 基于触觉反馈的虚拟切割基本原理 . 10 2.3 基于触觉反馈的虚拟切割系统构建 .11 2.3.1 虚拟切割系统的硬件系统组成 . 12 2.3.2 虚拟切割系统的软件系统组成 . 13 2.3.3 虚拟网格模型的环境特性设置 . 14 2.3.4 基于三角形单元的网格模型建立 . 15 2.4 虚拟切割系统的体数据预处理 . 19 2.4.1 触觉反馈设备的坐标转换 . 19 2.4.2 切割过程的模型坐标变换 . 20 2.4.3 任意网格单元的法矢量求解 . 23 2.5 本章小结 . 23 第 3 章 基于方向包围盒的碰撞检测算法研究 . 24 3.1 引言 . 24 3.2 基于网格的方向包围盒算法 . 24 3.2.
