PPT
Stable 6-DOF Haptic Rendering with Inner Sphere Trees. René Weller, Gabriel Zachmann Clausthal University, Germany {weller,zach}@in.tu-clausthal.de IDETC/CIE 2009, Aug-Sep 2009, San Diego, CA. BVHs vs Voxels. BVHs Easy to build Fast, robust and exact Complicated to compute penetration depth