METHOD AND APPARATUS FOR SYNTHESIZING VIRTUAL INTERACTION BETWEEN RIGID AND DEFORMABLE BODIES

摘要

To synthesize virtual contact resulting from rigid object acting on a deformable body, a method is used whereby a surface of a deformable body meshed into polygons carries a finite set of responses corresponding to actual responses between the object and the body which are calculated or measured in a preprocessing step and stored into memory. Response data associated with the currently active polygon is obtain ed from the memory and the response is synthesized for any point on the surface and any position of the rigid object, including reproduction of friction. By accessi ng pre- processed response data, the computational complexity is reduced, while the determination of the relative position of the point of contact within the currently active polygon makes it possible use a double interpolation process that ensures continuity of rendered forces and the passivity of the synthesized interacti on although the original data is known only at a discrete locations.