Performance improvement of haptic collision detection using subdivision surface and sphere clustering

Haptics applications such as surgery simulations require collision detections that are more precise than others. An efficient collision detection method based on the clustering of bounding spheres was proposed in our prior study. This paper analyzes and compares the applied effects of the five most common subdivision surface methods on some 3D models for haptic collision detection. The five methods are Butterfly, Catmull-Clark, Mid-point, Loop, and LS3 (Least Squares Subdivision Surface). After performing a number of experiments, we have concluded that LS3 method is the most appropriate for haptic simulations. The more we applied surface subdivision, the more the collision detection results became precise. However, it is observed that the performance becomes better until a certain threshold and degrades afterward. In order to reduce the performance degradation, we adopted our prior work, which was the fast and precise collision detection method based on adaptive clustering. As a result, we obtained a notable improvement of the speed of collision detection.