The contact model and the haptic generation algorithm need to establish a contact model to determine whether the virtual probe is in contact with the virtual fabric and calculate the contact force. According to the range of contact between the virtual object and the virtual device, the contact model is divided into three methods: point contact, line contact and face contact. Based on the fabric model established by the spring particle model, the virtual spring is of no mass, and the quality of the fabric is evenly distributed on the mass point, so the point contact method is adopted.
Pressing the point contact model The contact model is provided with a virtual spring and a damper on the surface of the virtual fabric. When the virtual probe collides with the virtual fabric, the contact point on the virtual probe is a Haptic interaction point (HIP). If the HIP is below the virtual fabric, the virtual probe and the virtual fabric are considered to be in contact, otherwise the two are considered to be no longer in contact. Projecting the HIP along the virtual fabric plane normal vector onto the virtual fabric surface to obtain a virtual haptic interaction point (VHIP). The proxy point contact model generates a spring force with a virtual spring with an initial length of zero with HIP and VHIP as the endpoints. Where SK is the stiffness coefficient, depth d is the vector formed by the two endpoints of the current virtual spring, DK is the damping coefficient, and proxy v is the velocity of the virtual probe in the virtual space of the PHANToM force feedback device. Ela F is the feedback force felt by the operator, and the direction of the elastic force points to the HIP.
Sliding Point Contact Model In order to determine if a virtual probe is in contact with a virtual fabric, a Snap distance needs to be defined. When the distance between the virtual probe and the virtual fabric is within the limit distance, the contact is considered to occur, and the agent point is placed on the surface of the virtual fabric. Once the distance between the virtual probe and the virtual fabric is greater than the limit distance, it is considered no longer in contact. , release the agent point, and no longer calculate the feedback force.
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