Numerical recipes: the art of scientific computing
Numerical recipes: the art of scientific computing
Updating the inverse of a matrix
SIAM Review
ArtDefo: accurate real time deformable objects
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Scanning physical interaction behavior of 3D objects
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Real-Time Elastic Deformations of Soft Tissues for Surgery Simulation
IEEE Transactions on Visualization and Computer Graphics
Using Region-of-Interest Based Finite Element Modeling for Brain-Surgery Simulation
MICCAI '98 Proceedings of the First International Conference on Medical Image Computing and Computer-Assisted Intervention
Surgery Simulation Using fast Finite Elements
VBC '96 Proceedings of the 4th International Conference on Visualization in Biomedical Computing
Dynamic Deformable Models for Enhanced Haptic Rendering in Virtual Environments
VR '00 Proceedings of the IEEE Virtual Reality 2000 Conference
Efficient Point-Based Rendering Techniques for Haptic Display of Virtual Objects
Presence: Teleoperators and Virtual Environments
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We describe real-time, physically-based simulation algorithms for haptic interaction with elastic objects. Simulation of contact with elastic objects has been a challenge, due to the complexity of physically accurate simulation and the difficulty of constructing useful approximations suitable for real time interaction. We show that this challenge can be effectively solved for many applications. In particular global deformation of linear elastostatic objects can be efficiently solved with low run-time computational costs, using precomputed Green's functions and fast low-rank updates based on Capacitance Matrix Algorithms. The capacitance matrices constitute exact force response models, allowing contact forces to be computed much faster than global deformation behavior. Vertex pressure masks are introduced to support the convenient abstraction of localized scale-specific point-like contact with an elastic and/or rigid surface approximated by a polyhedral mesh. Finally, we present several examples using the CyberGlove™ and PHANToM™ haptic interfaces.