FOREWORD.

PREFACE.

1 INTRODUCTION.

1.1 The Three I s of Virtual Reality.

1.2 A Short History of Early Virtual Reality.

1.3 Early Commercial VR Technology .

1.4 VR Becomes an Industry.

1.5 The Five Classic Components of a VR System.

1.6 Review Questions.

References.

2 INPUT DEVICES: TRACKERS, NAVIGATION, AND GESTURE INTERFACES.

2.1 Three-Dimensional Position Trackers.

2.1.1 Tracker Performance Parameters.

2.1.2 Mechanical Trackers.

2.1.3 Magnetic Trackers.

2.1.4 Ultrasonic Trackers.

2.1.5 Optical Trackers.

2.1.6 Hybrid Inertial Trackers.

2.2 Navigation and Manipulation Interfaces.

2.2.1 Tracker-Based Navigation/Manipulation Interfaces.

2.2.2 Trackballs.

2.2.3 Three-Dimensional Probes.

2.3 Gesture Interfaces.

2.3.1 The Pinch Glove.

2.3.2 The 5DT Data Glove.

2.3.3 The Didjiglove.

2.3.4 Th e CyberGlove.

2.4 Conclusion.

2.5 Review Questions.

References.

3 OUTPUT DEVICES: GRAPHICS, THREE-DIMENSIONAL SOUND, AND HAPTIC DISPLAYS.

3.1 Graphics Displays.

3.1.1 The Human Visual System.

3.1.2 Personal Graphics Displays.

3.1.3 Large-Volume Displays.

3.2 Sound Displays.

3.2.1 The Human Auditory System.

3.2.2 The Convolvotron.

3.2.3 Speaker-Based Three-Dimensional Sound.

3.3 Haptic Feedback.

3.3.1 The Human Haptic System.

3.3.2 Tactile Feedback Interfaces.

3.3.3 Force Feedback Interfaces.

3.4 Conclusion.

3.5 Review Questions.

References.

4 COMPUTING ARCHITECTURES FOR VR.

4.1 The Rendering Pipeline.

4.1.1 The Graphics Rendering Pipeline.

4.1.2 The Haptics Rendering Pipeline.

4.2 PC Graphics Architecture.

4.2.1 PC Graphics Accelerators.

4.2.2 Graphics Benchmarks.

4.3 Workstation-Based Architectures.

4.3.1 The Sun Blade 1000 Architecture.

4.3.2 The SGI Infinite Reality Architecture.

4.4 Distributed VR Architectures.

4.4.1 Multipipeline Synchronization.

4.4.2 Colocated Rendering Pipelines.

4.4.3 Distributed Virtual Environments.

4.5 Conclusion.

4.6 Review Questions.

References.

5 MODELING.

5.1 Geometric Modeling.

5.1.1 Virtual Object Shape.

5.1.2 Object Visual Appearance.

5.2 Kinematics Modeling.

5.2.1 Homogeneous Transformation Matrices.

5.2.2 Object Position.

5.2.3 Transformation Invariants.

5.2.4 Object Hierarchies.

5.2.5 Viewing the Three-Dimensional World.

5.3 Physical Modeling.

5.3.1 Collision Detection.

5.3.2 Surface Deformation.

5.3.3 Force Computation.

5.3.4 Force Smoothing and Mapping.

5.3.5 Haptic Texturing.

5.4 Behavior Modeling.

5.5 Model Management.

5.5.1 Level-of-Detail Management.

5.5.2 Cell Segmentation.

5.6 Conclusion.

5.7 Review Questions.

References.

6 VR PROGRAMMING.

6.1 Toolkits and Scene Graphs.

6.2 WorldToolKit.

6.2.1 Model Geometry and Appearance.

6.2.2 The WTK Scene Graph.

6.2.3 Sensors and Action Functions.

6.2.4 WTK Networking.

6.3 Java 3D.

6.3.1 Model Geometry and Appearance.

6.3.2 Java 3D Scene Graph.

6.3.3 Sensors and Behaviors.

6.3.4 Java 3D Networking.

6.3.5 WTK and Java 3D Performance Comparison.

6.4 General Haptics Open Software Toolkit.

6.4.1 GHOST Integration with the Graphics Pipeline.

6.4.2 The GHOST Haptics Scene Graph.

6.4.3 Collision Detection and Response.

6.4.4 Graphics and PHANToM Calibration.

6.5 PeopleShop.

6.5.1 DI-Guy Geometry and Path.

6.5.2 Sensors and Behaviors.

6.5.3 PeopleShop Networking.

6.6 Conclusion.

6.7 Review Questions.

References.

7 HUMAN FACTORS IN VR.

7.1 Methodology and Terminology.

7.1.1 Data Collection and Analysis.

7.1.2 Usability Engineering Methodology.

7.2 User Performance Studies.

7.2.1 Testbed Evaluation of Universal VR Tasks.

7.2.2 Influence of System Responsiveness on User Performance.

7.2.3 Influence of Feedback Multimodality.

7.3 VR Health and Safety Issues.

7.3.1 Direct Effects of VR Simulations on Users.

7.3.2 Cybersickness.

7.3.3 Adaptation and Aftereffects.

7.3.4 Guidelines for Proper VR Usage.

7.4 VR and Society.

7.4.1 Impact on Professional Life.

7.4.2 Impact on Private Life.

7.4.3 Impact on Public Life.

7.5 Conclusion.

7.6 Review Questions.

References.

8 TRADITIONAL VR APPLICATIONS.

8.1 Medical Applications of VR.

8.1.1 Virtual Anatomy.

8.1.2 Triage and Diagnostic.

8.1.3 Surgery.

8.1.4 Rehabilitation.

8.2 Education, Arts, and Entertainment.

8.2.1 VR in Education.

8.2.2 VR and the Arts.

8.2.3 Entertainment Applications of VR.

8.3 Military VR Applications.

8.3.1 Army Use of VR.

8.3.2 VR Applications in the Navy.

8.3.3 Air Force Use of VR.

8.4 Conclusion.

8.5 Review Questions.

References.

9 EMERGING APPLICATIONS OF VR.

9.1 VR Applications in Manufacturing.

9.1.1 Virtual Prototyping.

9.1.2 Other VR Applications in Manufacturing.

9.2 Applications of VR in Robotics.

9.2.1 Robot Programming.

9.2.2 Robot Teleoperation.

9.3 Information Visualization.

9.3.1 Oil Exploration and Well Management.

9.3.2 Volumetric Data Visualization.

9.4 Conclusion.

9.5 Review Questions.

References.

Index.

CD-ROM VERSION:

Chapter 1. Introduction to VRML & Java 3D.

Objectives.

1. Overview of the VRML language.

2. The VRML Browser.

3. Examples of VRML Worlds

4. The Basic VRML Syntax.

5. Objects Creation in VRML.

6. Introduction to Java 3D [Advanced].

7. VRML & Java 3D [Advanced].

Homework.

Project I-0. Install a VRML Browser.

Project I-1. Create a Simple VRML World.

Project I-2. Load VRML files in Java 3D [Advanced].

Chapter 2. Sensor & Event Processing Objectives.

1. Route and Event Processing.

2. Sensor Nodes.

3. Interpolators in VRML.

4. Creating Objects in Java 3D [Advanced].

5. Event Scheduling in Java 3D [Advanced].

6. Interpolators in Java 3D [Advanced].

7. Sensors in Java 3D [Advanced].

8. Hardware Device Interface in Java [Advanced].

Homework.

Project 2-1. Interaction using Sensor Nodes.

Project 2-2. Simple Interaction in Java3D [Advanced].

Project 2-3. Behavior in Java3D [Advanced].

Project 2-4. Interaction using a 3D Tracker [Advanced]

Chapter 3. VRML & Java Script.

Objectives.

1. Programming in VRML.

2. Script Node in VRML.

3. Event Processing in a VRML file for scripting.

4. A Scripting Example using JavaScript.

5. A Scripting Example using Java [Advanced].

6. Stereoscopic Viewing using StereoEyesTM Glasses.

Homework.

Project 3-1. Trajectory of a Bouncing Ball in JavaScript.

Project 3-2. Test Stereoscopic View with different parameters.

Project 3-3. VRML Loader with Stereoscopic view [Advanced].

Chapter 4. Scene Hierarchy, Geometry & Texture.

Objectives.

1. Scene Hierarchy in VRML.

2. Constructing a Hierarchical Object: The Snowman.

3. Geometry nodes in VRML.

4. Extended geometry node details.

5. Textures in VRML.

6. Geometry in Java 3D [Advanced].

7. Texture Mapping in Java 3D [Advanced].

Homework.

Project 4-1. Create a Hierarchical hand model.

Project 4-2. Creating a Garden in VRML.

Project 4-3. Human-like Robot in Java 3D [Advanced].

Chapter 5. VRML PROTO & Glove Devices.

Objectives.

1. Creating a New Node in VRML.

2. An Example of Prototyping in VRML.

3. The New Node for Device Interface in VRML.

4. Data acquisition and calibration of the 5DT gloveTM. [Advanced]

Homework.

Project 5-1. Glove Calibration.

Project 5-2. Human-like Robot.

Project 5-3. Glove Calibration and Hand Animation [Advanced].

Chapter 6. Viewpoint Control, Sound and Haptic Effects.

Objectives.

1. Navigation and Its Control.

2. Using 3D Sound in VRML.

3. Creating Force Feedback Joystick interface [Advanced].

Homework.

Project 6-1. Viewpoint Control using Glove Data.

Project 6-2. Force Feedback Joystick Interaction in Java 3D [Advanced].

Resources.

References.

Appendix.

A. Available Java 3D Loaders.

B. A JNI Example Program for PolhemusTM.

C. Combining VRML world in HTML Documents.

D. Configuration of the system to see Stereoscopic view using StereoEyesTM.

E. Example Grading Policy for Project 3-1 Bouncing Ball.

F. An Example of Final Project Assignment (Requirement).

G. A Sample Sheet for VR Final Project Grading.

Laboratory Manual:

Chapter 1. Introduction to VRML & Java 3D.

Objectives.

1. Overview of the VRML language.

2. The VRML Browser.

3. Examples of VRML Worlds.

4. The Basic VRML Syntax.

5. Objects Creation in VRML.

6. Introduction to Java 3D [Advanced].

7. VRML & Java 3D [Advanced]. Homework.

Project I-0. Install a VRML Browser.

Project I-1. Create a Simple VRML World.

Project I-2. Load VRML files in Java 3D [Advanced].

Chapter 2. Sensor & Event Processing.

Objectives.

1. Route and Event Processing.

2. Sensor Nodes.

3. Interpolators in VRML.

4. Creating Objects in Java 3D [Advanced].

5. Event Scheduling in Java 3D [Advanced].

6. Interpolators in Java 3D [Advanced].

7. Sensors in Java 3D [Advanced].

8. Hardware Device Interface in Java [Advanced].

Homework.

Project 2-1. Interaction using Sensor Nodes.

Project 2-2. Simple Interaction in Java3D [Advanced].

Project 2-3. Behavior in Java3D [Advanced].

Project 2-4. Interaction using a 3D Tracker [Advanced].

Chapter 3. VRML & Java Script.

Objectives.

1. Programming in VRML.

2. Script Node in VRML.

3. Event Processing in a VRML file for scripting.

4. A Scripting Example using JavaScript.

5. A Scripting Example using Java [Advanced].

6. Stereoscopic Viewing using StereoEyesTM Glasses.

Homework.

Project 3-1. Trajectory of a Bouncing Ball in JavaScript.

Project 3-2. Test Stereoscopic View with different parameters.

Project 3-3. VRML Loader with Stereoscopic view [Advanced].

Chapter 4. Scene Hierarchy, Geometry & Texture.

Objectives.

1. Scene Hierarchy in VRML.

2. Constructing a Hierarchical Object: The Snowman.

3. Geometry nodes in VRML.

4. Extended geometry node details.

5. Textures in VRML.

6. Geometry in Java 3D [Advanced] 7. Texture Mapping in Java 3D [Advanced].

Homework.

Project 4-1. Create a Hierarchical hand model.

Project 4-2. Creating a Garden in VRML.

Project 4-3. Human-like Robot in Java 3D [Advanced].

Chapter 5. VRML PROTO & Glove Devices.

Objectives.

1. Creating a New Node in VRML.

2. An Example of Prototyping in VRML.

3. The New Node for Device Interface in VRML.

4. Data acquisition and calibration of the 5DT gloveTM [Advanced].

Homework.

Project 5-1. Glove Calibration.

Project 5-2. Human-like Robot.

Project 5-3. Glove Calibration and Hand Animation [Advanced].

Chapter 6. Viewpoint Control, Sound and Haptic Effects.

Objectives.

1. Navigation and Its Control.

2. Using 3D Sound in VRML.

3. Creating Force Feedback Joystick interface [Advanced].

Homework.

Project 6-1. Viewpoint Control using Glove Data.

Project 6-2. Force Feedback Joystick Interaction in Java 3D [Advanced].

Resources.

References.

Appendix.

A. Available Java 3D Loaders.

B. A JNI Example Program for PolhemusTM.

C. Combining VRML world in HTML Documents.

D. Configuration of the system to see Stereoscopic view using StereoEyesTM.

E. Example Grading Policy for Project 3-1 Bouncing Ball.

F. An Example of Final Project Assignment (Requirement).

G. A Sample Sheet for VR Final Project Grading.