Possible Collision Detection Solutions

Since the HLAPI cannot be modified it cannot be used in this project. This means that we don't get the benefit of automatic collision detection and haptics rendering provided by the HLAPI. A collision detection package must be incorporated into the project to help render forces when contact with the STL object occurs. UNC chapel hill's team gamma has an impressive page on Collision Detection, Haptics and Robotics. Professor Horsch has suggested implementing one of the two packages:

• SWIFT
• PQP

SWIFT claims speed, while PQP seems to be easier to implement. Both packages will be explored over the next few weeks.