Motion stiffness optimized tactile force feedback simulation interaction method and device

Abstract

The invention provides a motion stiffness optimized tactile force feedback simulation interaction method, which comprises the following steps of simulating two three-dimensional geometric models with overlapped initialized mass center positions, including a static model and a motion model, continuously colliding the moving motion model with the static model, giving a predetermined vector direction to each collision and separation between the models based on a local contact force optimization principle, and further combining a penetration depth distance calculation method to calculate the minimum distance between the models based on the predetermined vector direction during each collision and separation, and constructing a dynamic control model in which the elastic rigidity, the damping constant and the minimum distance are associated, and substituting the minimum distance into the dynamic control model to obtain the magnitude of force applied to the motion model each time. By introducing the variable virtual stiffness nonlinear optimization algorithm of different geometric models, stable rigid body model tactile force feedback simulation interaction operation is realized.

Description

technical field [0001] The invention relates to the technical field of computer graphics processing, in particular to a tactile force feedback simulation interaction method and device for motion stiffness optimization. Background technique [0002] Virtual Reality (VR, Virtual Reality) technology is an important research branch in the field of computer graphics. Its unique visual presentation and virtual simulation interaction methods enable users to truly be in a virtual three-dimensional scene and experience highly immersive visual roaming experience. Through the introduction of multi-modal visual, auditory, tactile, olfactory and other perception technologies that integrate virtual and real, the dynamic interaction with virtual scene objects can be realized, and the knowledge learning and visual shock brought by the virtual world can be experienced, which can be effectively applied to medical simulation and education. Training, game entertainment, military simulation, as...

AI Technical Summary

Problems solved by technology

[0009] The technical problem to be solved by the embodiments of the present invention is to provide a tactile force feedback simulation interaction method and device with optimized motion stiffness, which can well realize a stable rigid body model by introducing variable virtual stiffness nonlinear optimization algorithms of different geometric models Haptic force feedback simulates interactive operations, thereby solving the problems of high refresh rate requirements for geometric interaction calculations, vibration and instability of haptic feedback devices, etc. in the prior art

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