Abstract

We designed and implemented a particle-based surface model. This model allows us to create surfaces with different haptic (and also graphical) properties. For example, solid surfaces, elastic surfaces, soft deformable surfaces, etc. It is a fragment of a particle-based object model, which was designed to allow us to create any kind of object, e.g. a surface, a solid object and a liquid object. In this thesis, I focus on haptic rendering of these objects. Graphics is implemented only as a simple OpenGL point model without lights. For haptic rendering we use a simple and approved proxy model. As far as the dynamic properties of a surface are concerned, we implemented a physical model similar to the real world physics but there are some differences, which help us to keep the model stable even in a slow refresh rate. It also provides us with some interesting properties, like a force asymmetry, which do not appear in the real world but could be interesting. …víceméně