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"On-the-fly" voxelization for 6 degrees-of-freedom haptic virtual sculpting

Virtual sculpting allows users to created 3-dimensional artworks and prototypes by using a 3D input device to control a sculpting tool. While existing methods allow a range of sculpting effects, they are limited to simplistic polyhedral tool shapes (usually spherical or point-based) or complex voxel-based tools that can only be applied at fixed orientations.This paper presents a model for real-time voxel-based virtual sculpting that performs on-the-fly voxelization of a polyhedral tool to determine the region of the sculpture to modify. This allows the tool to take on a variety of shapes ranging from simple to complex polyhedra. It also allows the tool to be applied to the sculpture at any orientation. The algorithm for voxelization is a seed-filling algorithm that features several heuristics that enhance the performance, allowing sculpting to occur in real-time. The model provides 6-degrees-of-freedom haptic feedback allowing users to feel what they are sculpting. The scene is visualized using a localized Marching Cues algorithm. A working implementation of the model is presented and discussed along with some images of sculptures produced from this implementation.