Abstract: Systems and methods provide a user the ability to select three-dimensional virtual objects in a three-dimensional modeling environment using two-dimensional representations of the objects. In broad overview, the invention involves a multidimensional degree of freedom haptic interface that controls a three-dimensional cursor. A user employs the cursor to select an arbitrary point on a three-dimensional virtual object of interest. Through the application of a mathematical transformation, the system displays the cursor at the location of the selected point on the object. The user can manipulate the object by operating the haptic interface. The systems and methods provide the user with the possibility of editing the selected virtual object. In one embodiment, editing includes sculpting the object. When the user releases the object after manipulation is completed, the cursor is relocated to the position the cursor would have had had the manipulations been applied to the cursor directly.

Abstract: The invention provides methods of protecting selected regions of an image from subsequent modification during the operation of a graphics application. The methods allow a user to select a region of an image to protect, and to assign a level of protection to the selected region. Subsequent brush strokes in the region are then attenuated according to the assigned level of protection and blended into the image without artifacts caused by overlapping strokes. The invention also provides a method of blending individual strokes into a texture without segmentation artifacts.

Abstract: The invention provides an apparatus and methods for automatically modifying a computer model of an object to comply with a manufacturing constraint for production of the object. In one embodiment, the invention uses a voxel-based approach to automatically modify an arbitrarily-shaped model at any stage of the design process. For example, a method of the invention automatically modifies a model of a molded object to comply with a draft angle requirement.

Abstract: The invention provides techniques for wrapping a two-dimensional texture conformally onto a surface of a three dimensional virtual object within an arbitrarily-shaped, user-defined region. The techniques provide minimum distortion and allow interactive manipulation of the mapped texture. The techniques feature an energy minimization scheme in which distances between points on the surface of the three-dimensional virtual object serve as set lengths for springs connecting points of a planar mesh. The planar mesh is adjusted to minimize spring energy, and then used to define a patch upon which a two-dimensional texture is superimposed. Points on the surface of the virtual object are then mapped to corresponding points of the texture. The invention also features a haptic/graphical user interface element that allows a user to interactively and intuitively adjust texture mapped within the arbitrary, user-defined region.

Abstract: The invention provides techniques for wrapping a two-dimensional texture conformally onto a surface of a three dimensional virtual object within an arbitrarily-shaped, user-defined region. The techniques provide minimum distortion and allow interactive manipulation of the mapped texture. The techniques feature an energy minimization scheme in which distances between points on the surface of the three-dimensional virtual object serve as set lengths for springs connecting points of a planar mesh. The planar mesh is adjusted to minimize spring energy, and then used to define a patch upon which a two-dimensional texture is superimposed. Points on the surface of the virtual object are then mapped to corresponding points of the texture. The invention also features a haptic/graphical user interface element that allows a user to interactively and intuitively adjust texture mapped within the arbitrary, user-defined region.

Abstract: A multi-function force reflecting haptic interface including various sub-assemblies is disclosed. The sub-assemblies include multiple function user interfaces, a user interface docking station for setting the interface to a home position, temperature monitoring and control systems, and various kinematic cable drive systems.

Abstract: The invention provides texture mapping techniques that facilitate interactive painting of a three-dimensional virtual surface by a user in object space, without requiring global parameterization. The texture mapping techniques feature rendering texture for a given virtual object using a plurality of composite textures, each formed by blending collapsible texture layers. Texture coordinates in texture space are derived using information determined at the time of surface mesh generation. The invention features dynamic texture allocation and deallocation, allowing a user to interactively modify the shape of a painted, three-dimensional model. Finally, the invention features an architecture for combined graphical rendering and haptic rendering of a virtual object, allowing a user to experience force feedback during the painting of the object in object space.

Abstract: A six degree of freedom force reflecting haptic interface includes three powered axes and three free axes, all of which are tracked so that the position of a user connection element in the work volume can be determined. The interface includes cable drives with polymer composite or metallic cables, automatic cable tensioning devices, and grounded actuator capstans. A nested hub and transfer drive provide a compact, weight balanced interface. User comfort and safety features are also provided.

Abstract: A user of a modeling application modifies an initial virtual object using a sketch drawn on one or more construction planes. Typically, construction planes are connected by an axis that intersects the virtual object. The user can draw a sketch on each construction plane, and the modeling application interpolates a shape along the axis between the sketches to determine what material in the virtual object is to be removed from it. In this manner, material may be removed to create a recess or hole in the virtual object or otherwise to slice away material from the object. A user can use two or more axes and construction planes to produce complex shapes from the initial virtual object. A user can also select a portion of a virtual object and mirror the selected portion. Modifications that the user makes in the selected portion are made correspondingly in the mirrored portion.

Abstract: Systems and methods for calculating a modification of a geometrical shape by applying an inverse modification function to an array representing the shape. An array representing the geometrical shape is defined on a multi-dimensional space. A modification function is used to modify the geometrical shape. A user or a programmed computer can select the modification function. The computer applies an inverse of the modification function to the array. The computer deduces a change in the geometrical shape from the modified array. An advantage of the system and method is the ability to compute shape changes in certain situations where a direct computation is cumbersome or otherwise inconvenient.

Abstract: A user of a virtual object or computer model uses a haptic interface device in the real world to manipulate a virtual tool in a virtual environment to interact and modify the virtual object. The user uses the virtual tool in a sculpting mode to modify the shape of the virtual object by adding, removing, or modifying the material of the object. The user feels an interaction force from the virtual tool as it interacts with and modifies the virtual object. The designer can set geometric constraints, such as a constraint point, constraint line, or constraint surface, to limit or guide the movement of the virtual tool.

Abstract: A user of a virtual object or computer model uses a haptic interface device in the real world to manipulate a virtual tool in a virtual environment to interact and modify the virtual object. The user uses the virtual tool in a sculpting mode to modify the shape of the virtual object by adding, removing, or modifying the material of the object. The user feels an interaction force from the virtual tool as it interacts with and modifies the virtual object. The designer can set geometric constraints, such as a constraint point, constraint line, or constraint surface, to limit or guide the movement of the virtual tool.

Abstract: A user of a modeling application modifies an initial virtual object using a sketch drawn on one or more construction planes. Typically, construction planes are connected by an axis that intersects the virtual object. The user can draw a sketch on each construction plane, and the modeling application interpolates a shape along the axis between the sketches to determine what material in the virtual object is to be removed from it. In this manner, material may be removed to create a recess or hole in the virtual object or otherwise to slice away material from the object. A user can use two or more axes and construction planes to produce complex shapes from the initial virtual object. A user can also select a portion of a virtual object and mirror the selected portion. Modifications that the user makes in the selected portion are made correspondingly in the mirrored portion.

Abstract: Systems and methods provide a user the ability to select three-dimensional virtual objects in a three-dimensional modeling environment using two-dimensional representations of the objects. In broad overview, the invention involves a multidimensional degree of freedom haptic interface that controls a three-dimensional cursor. A user employs the cursor to select an arbitrary point on a three-dimensional virtual object of interest. Through the application of a mathematical transformation, the system displays the cursor at the location of the selected point on the object. The user can manipulate the object by operating the haptic interface. The systems and methods provide the user with the possibility of editing the selected virtual object. In one embodiment, editing includes sculpting the object. When the user releases the object after manipulation is completed, the cursor is relocated to the position the cursor would have had had the manipulations been applied to the cursor directly.

Abstract: A user of a virtual object or computer model uses a haptic interface device in the real world to manipulate a virtual tool in a virtual environment to interact and modify the virtual object. The user uses the virtual tool in a sculpting mode to modify the shape of the virtual object by adding, removing, or modifying the material of the object. The user feels an interaction force from the virtual tool as it interacts with and modifies the virtual object. The designer can set geometric constraints, such as a constraint point, constraint line, or constraint surface, to limit or guide the movement of the virtual tool.

Abstract: A user of a virtual object or computer model uses a haptic interface device in the real world to manipulate a virtual tool in a virtual environment to interact and modify the virtual object. The user uses the virtual tool in a sculpting mode to modify the shape of the virtual object by adding, removing, or modifying the material of the object. The user feels an interaction force from the virtual tool as it interacts with and modifies the virtual object. The designer can set geometric constraints, such as a constraint point, constraint line, or constraint surface, to limit or guide the movement of the virtual tool.

Abstract: A six degree of freedom force reflecting haptic interface includes three powered axes and three free axes, all of which are tracked so that the position of a user connection element in the work volume can be determined. The interface includes cable drives with polymer composite or metallic cables, automatic cable tensioning devices, and grounded actuator capstans. A nested hub and transfer drive provide a compact, weight balanced interface. User comfort and safety features are also provided.

Abstract: A user of a modeling application uses a haptic interface device in the real world to manipulate a virtual tool in a virtual environment to interact with a virtual object. The user can use the tool to evaluate the shape of the virtual object and navigate its virtual surface, based on an interactive force feedback approach. When the user attempts to penetrate the virtual object with the virtual tool, a modeling application limits the movement of the virtual tool depending on the geometry of the surface, the position of the virtual tool, and a haptic interface location in the virtual environment, which represents the physical location of the haptic interface device in the real world. The user can evaluate different geometries of the virtual surface, including an edge geometry, such as occurs when the virtual tool is touching or moving along an edge of the virtual object.

Abstract: A six degree of freedom force reflecting haptic interface includes three powered axes and three free axes, all of which are tracked so that the position of a user connection element in the work volume can be determined. The interface includes cable drives with polymer composite or metallic cables, automatic cable tensioning devices, and grounded actuator capstans. A nested hub and transfer drive provide a compact, weight balanced interface. User comfort and safety features are also provided.