[D91] A proposal of haptic controller with local physics simulation

Summary form only given. The demo shows a stable haptic system for force feedback from a rigid body physics simulation using a haptic controller. In haptic system accompanied by a physics simulation, for stable haptic rendering, a high update rate is necessary to the physics simulation as well as a haptic device control. The physics simulation with high update rate, however, can not finish the one step in real-time if the simulated virtual world is massive. Additionally, it is difficult to achieve a high update rate on PC because of the limitation of accuracy of the OS timer and communication rate between PC and a haptic device.