Haptic gaming

Six-DoF Haptic Rendering of Contact between Geometrically Complex Reduced Deformable Models

This paper shows how to simulate haptic contact between a rigid object and a reduced FEM deformable object, both with complex geometry. Deformable object simulation, deformable collision detection and contact force and torque computations all run together at haptic rates (1000 Hz). In our subsequent journal paper (also available on this page), we extended the method to contact between two reduced deformable objects.

This paper won the best paper-and-presentation award at the Symposium for Computer Animation (SCA) in San Diego, CA, August 2007.

Deformable haptic contact



Real-time evaluation of distributed contact forces for rigid or deformable 3D objects is important for providing multi-sensory feedback in emerging real-time applications, such as 6-DoF haptic force-feedback rendering. Unfortunately, at very high temporal rates (1 kHz for haptics), there is often insufficient time to resolve distributed contact between geometrically complex objects.

In this paper, we present a spatially and temporally adaptive sample-based approach to approximate contact forces under hard real-time constraints. The approach is CPU based, and supports contact between a rigid and a reduced deformable model with complex geometry. Penalty-based contact forces are efficiently resolved using a multi-resolution point-based representation for one object, and a signed-distance field for the other. Hard real-time approximation of distributed contact forces uses multi-level progressive point-contact sampling, and exploits temporal coherence, graceful degradation and other optimizations. We present several examples of 6-DoF haptic rendering of geometrically complex rigid and deformable objects in distributed contact at real-time kilohertz rates.

Interactive path planning with deformable CAD geometry


Project material

Comments, questions to Jernej Barbič. Note: you need the free DivX playback codec to play the DivX video. This includes the videos embedded in the ppt presentation; we wrote a further note on it here.

Related projects


Deformable contact with 12 simultaneous contact sites

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Cornell University
Carnegie Mellon Graphics

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