弹性体力/触觉框架模型

Haptic Rendering Based on Frame-Skeleton for Deformable Object Simulation

在力/触觉建模技术中,高效的实时性与基于物理意义的准确性是与生俱来的一对矛盾.为了提高实时性与准确性的和谐程度,提出一种分析虚拟柔性体力/变形关系的框架结构模型.在柔性体内部建立一定数量并相互独立的钢架结构,运用虚功原理计算每根钢架上节点的位移;根据接触点和节点的分布,采用分水岭法将柔性体表面分割成若干区域,通过本区域内节点和接触点的位移插值计算区域内顶点的变形,进而得到柔性体的整体变形.仿真实验结果表明,该模型简便、实时性好,在具体的虚拟建模力反馈工作中可操作性强.

In this paper, a unique approach is presented to model force and deformation between a rigid body and an elastic object, which achieves a good compromise of reasonable physical realism and realtime update rate. A frame-skeleton model with rigid joint {rames is introduced to simulate the global deformation of the convex or non-convex elastic object when it forms one or more than one contact. And the deflection of each rigid joint in the frame can be computed using virtual work principle for efficient deformation modeling. With the deformation displacements of the contact point and all rigid joints obtained, the global deformed shape of the entire elastic object can be achieved by the linear interpolation. This general method is implemented and tested on different examples. Results are given to demonstrate the effectiveness of the approach.