A method of collision detection is provided that allows for virtual objects having arbitrary shapes to be simulated with six degrees of freedom. The collision detection method is capable of providing full body contact by detecting each intersection between a representation of a first virtual object and a representation of a second virtual object. The full-body contact may be provided as haptic rendering signals indicating the full-body contact between the two virtual objects.

 
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> Method for presenting a virtual reality environment for an interaction

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