Fast Haptic Simulation of Brittle Object using Bounded Force Propagation Model

In this paper, a method for real-time simulation of brittle object with haptic force feedback is described. Based on the rigid-constraint model, originally developed for visual-only image synthesis, a virtual object is represented as a set of point-masses connected by distance-preserving linear constraints. The drawback of the original method is that it is time consuming and not suitable for real-time haptic simulation. In this paper, a bounded force propagation model is developed to reduce calculation time as required by the original method. In addition, a haptic-endpoint position prediction method is applied to prepare the simulation system for the calculation required by the method. These refinements allow the brittle object simulation method to be applicable to real-time interactive applications with haptic force feedback.