Realtime Haptic Rendering in Hybrid Environment Using Unified SPH Method

Abstract

In this paper, an improved unified SPH(smoothed particle hydrodynamics) method is proposed to realize the realtime haptic rendering with hybrid environment which contains fluid, rigid body and so on. Firstly, the SPH method for fluid is reviewed briefly. Then the improved unified SPH model is proposed as the objects model to perform the collision detection and calculate the feedback force. The following chapter gives the calculation process of haptic rendering. At last, an experiment where a rigid ball coupled to a haptic device interacting with fluid and rigid body is designed. The buoyancy, resistance and contact force are all simultaneously simulated in the experiment. The results show the feedback forces are continuous and smooth, which verifies the validity and efficiency of the method.