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Availability of commodity physics engines such as PhysX's nVidia has significantly reduced the effort required for developing interactive applications concerning the simulation of the physical world. However, it becomes a problem when force feedback is needed since the addition of haptic rendering into these applications is non-trivial. The issues include the high haptic update rate and the inaccessibility of force data in the physics engine. In the paper, the authors tackle the first issue by mediating the update-rate disparity between haptic rendering and other processes by data buffering, and the second issue by calculating the force feedback indirectly using the engine's collision geometry data.
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