Contents	7
	Section I Basics of Designing Virtual Reality Systems	10
	Chapter 1 Introduction: VR in a Nutshell	12
	What Is VR?	12
	Goals and Applications of VR	12
	Two Pillars of VR: Presence and 3D Multimodal Interaction	14
	Building a Virtual Reality System	17
	About This Book	19
	Final Notes	20
	Acknowledgments	21
	Summary and Pondering Points	21
	Chapter 2 Requirements Engineering and Storyboarding	23
	Example: Ship Simulator Design	28
	Summary	35
	Pondering Points	35
	Chapter 3 Object and Scene Modeling	36
	Object Modeling and Initial Implementation	36
	Scene Construction	45
	Object Placement by Series of Action	45
	Dealing with Multiple Frames of Reference	51
	Re-Expressing Coordinates	52
	Function/Behavior Modeling	56
	Example: Ship Simulator Revisited	58
	Summary	59
	Pondering Points	61
	Chapter 4 Putting It All Together	62
	Example Design and Implementation (Continued): Level 2 Ship Simulator	65
	Summary	74
	Pondering Points	74
	Chapter 5 Performance Estimation and System Tuning	75
	Tuning with the LOD Models	75
	Presence/Special Effects: Third Stage of Spiral Process	76
	Using Images and Textures for Object/Scene Modeling and Fast Rendering	77
	Summary	82
	Pondering Points	82
	Section II Making of the Virtual Reality	84
	Chapter 6 Output Display	86
	The Human Visual System	86
	Human Depth Perception and Stereoscopy	90
	Visual Display System (Stereoscopic)	97
	Human Aural System	107
	Aural Display Systems	112
	Haptics: Force and Tactile Feedback	114
	Stimulation of Other Modalities I	117
	Summary	122
	Pondering Points	123
	Chapter 7 Sensors and Input Processing	124
	Trackers	125
	Event Generators	127
	Sensor Errors and Calibration	129
	Summary	130
	Pondering Points	130
	Chapter 8 3D Multimodal Interaction Design	131
	Why Go 3D Multimodal?	131
	Structured Approach to the Interaction / Interface Design	132
	Metaphors	134
	Interface Design	135
	Multimodality	137
	Cases of Interaction/Interface Design	139
	a. Case Study 1: Ship Simulator	139
	b. Case Study 2: Immersive Authoring [LeeG04]	140
	c. Case Study 3: Tabletop Computing	143
	d. Case Study 5: Selection and Manipulation	146
	e. Case Study 5: Navigation	151
	f. Case Study 6: Menu Selection and Invocation (System Control) [KimN00]	152
	g. Case Study 7: Whole Body Interaction	156
	h. Case Study 8: Tangible Interface for Product Evaluation	157
	i. Case Study 9: Alphanumeric Input	159
	Summary	161
	Pondering Points	161
	Chapter 9 Simulation I: Collision Detection	162
	Handling Collision	162
	Collision Detection with Line Segment(s)	164
	Polygonal Objects Versus Polygonal Objects (Collision Detection Only) [Can86]	169
	Bounding Volumes	175
	Building a Bounding Volume	178
	Building a Bounding Volume Hierarchy	181
	Testing Interference Among Bounding Volumes	182
	Summary	187
	Pondering Points	187
	Chapter 10 Simulation II: Physics-Based Motion and Collision Response	188
	Center of Gravity (COG)	188
	Moment of Inertia	189
	Kinematics	194
	Linear Velocity and Acceleration	194
	Rotational Kinematics (for Rigid Body Only)	194
	Laws of Motion	196
	Dynamics	200
	Ad Hoc Collision Response	201
	Collision Response	203
	Real-Time Simulation Revisited	204
	Deformation (As a Result of Collision)	205
	Summary	206
	Pondering Points	207
	Chapter 11 Virtual Characters	208
	Form of a Character	208
	Motion Control of a Character (Function and Behavior)	209
	Forward Kinematics	215
	Inverse Kinematics	219
	Summary	222
	Pondering Points	223
	Epilogue Virtual Space, the Final Frontier	224
	Other Important Subareas of Virtual Reality (VR)	224
	Is VR Really Any Good?	225
	VR for Spatial Presence	225
	References	228
	Index	236
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