Six-DoF haptic rendering of contact between geometrically complex reduced deformable models: Haptic demo

In this demonstration, we show haptic results from our research on distributed contact between deformable objects with complex geometry [1, 2, 3]. The demos run at 1000 Hz, and support 6-DoF haptic rendering. Real-time evaluation of distributed contact forces between rigid or deformable 3D objects is a key ingredient of 6-DoF force-feedback rendering. We demonstrate a spatially and temporally adaptive approach to approximate distributed contact forces under hard real-time constraints. Our method is CPU based, and supports contact between rigid or reduced deformable models with complex geometry. We propose a contact model that uses a point-based representation for one object, and a signed-distance field for the other. This model is related to the Voxmap Pointshell Method (VPS), but gives continuous contact forces and torques, enabling stable rendering of stiff penalty-based distributed contacts.