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Interactive Multiresolution Modeling and 3D Painting with a Haptic Interface inTouch Arthur D. Gregory, Stephen A. Ehmann, Ming C. Lin {gregory, ehmann, lin}@cs.unc.edu Brought to you by : <debug@cs.unc.edu> Abstract 1) Intuitive 3D interface

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interactive multiresolution modeling and 3d painting with a haptic interface
Interactive MultiresolutionModeling and 3D Painting with a Haptic Interface

inTouch

Arthur D. Gregory, Stephen A. Ehmann, Ming C. Lin

{gregory, ehmann, lin}@cs.unc.edu

Brought to you by : <debug@cs.unc.edu>

Deepak Bandyopadhyay / COMP239 / inTouch

abstract
Abstract

1) Intuitive 3D interface

2) Interactive multiresolution edit of polygonal mesh

3) “Directly” painting on surface

4) Haptic feedback

Rooster created with inTouch

  • result  create interesting and complex 3D objects !

Deepak Bandyopadhyay / COMP239 / inTouch

motivation
Motivation
  • What’s in it for us soon-to-be VR experts ?
  • We need models!

places

objects

humans

Deepak Bandyopadhyay / COMP239 / inTouch

motivation4
Motivation
  • What’s in it for us soon-to-be VR experts ?
  • We need models!
  • Virtual painting
    • the next killer app ?
      • Maybe not, but I still think its cool!

© 1996 Brian Heston

Deepak Bandyopadhyay / COMP239 / inTouch

motivation5
Motivation
  • What’s in it for us soon-to-be VR experts ?
    • We need models!
    • Virtual painting
      • the next killer app ?
        • Maybe not, but I still think its cool!
  • Haptics
    • state of the art technologies
      • Phantom
      • H-collide

Deepak Bandyopadhyay / COMP239 / inTouch

3d painting
3D painting
  • How it all began…
    • Pat Hanrahan and Paul Haeberli, ‘Direct WYSIWYG Painting and Texturing on 3D Shapes’ (SIGGRAPH 1990) [HH90]
  • [HH90] allows painting in object space, but…
    • Model must be divided into micro-polygons
    • Change colors and material per vertex
    • Painting is done in 2D parameter space

Deepak Bandyopadhyay / COMP239 / inTouch

3d painting a la intouch
3D painting a la inTouch
  • Use texture maps instead of per-vertex colors
  • Use a 3D “brush function” instead of 2D
  • inTouch allows direct painting onto object space…

Deepak Bandyopadhyay / COMP239 / inTouch

3d painting a la intouch8

(x,y,z)

(u,v)

triangle in object space

triangle in texture space

3D painting a la inTouch
  • For each triangle within the brush radius…
    • Compute the edge equations in texture space
    • Use them to define a plane equation in object space
    • Incrementally find 3D position of each texel while rasterizing
    • Apply brush function at this position and modify the texel
  • direct painting into texture map…

Deepak Bandyopadhyay / COMP239 / inTouch

multiresolution mesh editing
Multiresolution Mesh Editing
  • Multi-level model representation related by Loop subdivision rules
  • Mesh editing by dragging with force feedback at any of the levels
  • Two deformation styles - slide and stick

Deepak Bandyopadhyay / COMP239 / inTouch

haptics hardware
Haptics hardware
  • Sensable Technologies PHANTOMs
    • 3 or 6 DOF force feedback device

Deepak Bandyopadhyay / COMP239 / inTouch

interfacing with phantom
Interfacing with PHANTOM
  • GHOST toolkit
  • H-Collide library
    • collision detection between a haptic probe and environment
    • need 1000Hz updates!
    • Hierarchical scene representation
    • Uses frame-to-frame coherence

Deepak Bandyopadhyay / COMP239 / inTouch

haptic display

force

Haptic Display
  • Mesh modification
    • Triangle, movement vector, magnitude from H-Collide
    • Compute new position of triangle and use subdivision rules to update finer mesh levels
    • Pass new mesh to H-collide and compute coarser mesh levels by averaging

Deepak Bandyopadhyay / COMP239 / inTouch

haptic display13
Haptic Display
  • Painting
    • H-collide establishes point of contact of probe with model and computes the force
    • Probe becomes brush with specified color, radius and fall-off
    • Push harder  increase brush radius, deposit more paint

Deepak Bandyopadhyay / COMP239 / inTouch

user interface
User Interface
  • 2D menu at edge of 3D scene
  • Use PHANTOM stylus as mouse

Pear by Gentaro Hirota

Deepak Bandyopadhyay / COMP239 / inTouch

prototype system
Prototype system
  • IR2 as graphics server
  • PC as haptics server
  • VRPN for communication
  • Display on PIT or monitor (not 3D)

Deepak Bandyopadhyay / COMP239 / inTouch

conclusions
Conclusions
  • User comments:
    • Easy to modify globally or in detail at a point
    • Intuitive way of “sculpting” a 3D model
    • Good haptic feedback
    • Intuitive way of painting the model directly

Fox, by Sarah Hoff

(starting model = white icosahedron)

Deepak Bandyopadhyay / COMP239 / inTouch

results
Results
  • “Garl” - Observe the deformation
  • Young Silvia the butterfly, 80k triangles
  • Sylvia painted with inTouch

Models and painting by Arthur Gregory

Deepak Bandyopadhyay / COMP239 / inTouch

future work

Moving paintbrush

Potentially moving real object

Future Work
  • Two handed, multi-user, …
  • More interesting brush functions…
  • More interesting force feedback...
  • 6 DOF...
  • Paint in “real” 3D space (my project)

Deepak Bandyopadhyay / COMP239 / inTouch