Haptic modeling method for deformation simulation of flexible body

Abstract

The invention discloses a haptic modeling method of an equal pitch conical spiral spring for deformation simulation of a flexible body. The haptic modeling method is characterized in that an equal pitch conical spiral spring model is only filled in a partial region where a virtual proxy is interacted with a virtual flexible body under the action of a given virtual contact force when the virtual proxy is detected to collide with any point on the surface of the virtual flexible body so as to calculate the force and the deformation of the partial region; a signal of the haptic information on thereal-time deformation simulation of the flexible body obtained from the response calculated by the haptic modeling method of the equal pitch conical spiral spring under the action of an external force is output and fed back; and the superposition of the sum of the deformation of the equal pitch conical spiral springs at each layer is externally equivalent to the deformation of the surface of the flexible body in the modeling method. The modeling method of the model is simple and the deformation calculation process is simple and convenient so as to ensure high accuracy of the deformation simulation and high stability and high timeliness in the deformation simulation of the flexible body.

Description

technical field

[0001] The invention relates to a force tactile modeling method, in particular to a force tactile modeling method for virtual reality human-computer interaction based on physical meaning of flexible body deformation simulation force tactile modeling. Background technique

[0002] Virtual reality technology enables operators to directly participate in and explore the role and changes of virtual objects in their environment, making them feel like they are in a virtual world, giving users a realistic experience, generating a sense of immersion, and improving the efficiency of virtual operations. At the same time, it can provide great convenience for people to explore the macrocosm and microcosm, and has good economic and social benefits and attractive development prospects. As the tasks become more and more refined and the perceived objects become more and more complex, more and more accurate haptic modeling methods will be required. Therefore, the haptic modeli...

Examples

specific Embodiment 1

[0050] A haptic modeling method for flexible body deformation simulation, characterized in that the main steps of the modeling method are as follows:

[0051] Step 1 initializes the virtual scene;

[0052] Step 2 When it is detected that the virtual agent collides with any point on the surface of the virtual flexible body, under the action of a given virtual contact force F, the local area where the virtual agent interacts with the virtual flexible body is filled with equal-pitch conical spirals in each layer The spring force tactile virtual model, in the interaction process, the output feedback is the signal calculated by using the equal-pitch conical helical spring force tactile virtual model to reflect the force tactile information of the real-time deformation simulation of the flexible body under the action of external force. The modeling method of the tactile virtual model of conical coil spring force is as follows:

[0053] (1) Parameter initialization,

[0054] (2) Un...

specific Embodiment 2

[0084] 1. Construct a virtual gallbladder model and a virtual medical bending forceps model to realize the initialization of the virtual scene.

[0085] All virtual gallbladder and virtual medical bending forceps models in this example are directly in the format of OBJ exported from 3DS MAX 9.0 software, with 1057 particles, 2110 triangle meshes for virtual gallbladder and 461 particles, 921 triangle meshes The virtual medical bending forceps constituted as an example to carry out deformation simulation, the model acquisition and modification is very convenient; the operating platform is Windows 2000, based on 3DS MAX 9.0, OpenGL graphics library, and the simulation is carried out on the VC++6.0 software development platform.

[0086] 2. When it is detected that the virtual medical curved forceps collides with any point on the surface of the virtual gallbladder, under the action of a given virtual contact force F=2.4N, the internal filling of each layer in the local area where ...

technical field

[0001] The invention relates to a force tactile modeling method, in particular to a force tactile modeling method for virtual reality human-computer interaction based on physical meaning of flexible body deformation simulation force tactile modeling. Background technique

[0002] Virtual reality technology enables operators to directly participate in and explore the role and changes of virtual objects in their environment, making them feel like they are in a virtual world, giving users a realistic experience, generating a sense of immersion, and improving the efficiency of virtual operations. At the same time, it can provide great convenience for people to explore the macrocosm and microcosm, and has good economic and social benefits and attractive development prospects. As the tasks become more and more refined and the perceived objects become more and more complex, more and more accurate haptic modeling methods will be required. Therefore, the haptic modeli...

Examples

specific Embodiment 1

[0050] A haptic modeling method for flexible body deformation simulation, characterized in that the main steps of the modeling method are as follows:

[0051] Step 1 initializes the virtual scene;

[0052] Step 2 When it is detected that the virtual agent collides with any point on the surface of the virtual flexible body, under the action of a given virtual contact force F, the local area where the virtual agent interacts with the virtual flexible body is filled with equal-pitch conical spirals in each layer The spring force tactile virtual model, in the interaction process, the output feedback is the signal calculated by using the equal-pitch conical helical spring force tactile virtual model to reflect the force tactile information of the real-time deformation simulation of the flexible body under the action of external force. The modeling method of the tactile virtual model of conical coil spring force is as follows:

[0053] (1) Parameter initialization,

[0054] (2) Un...

specific Embodiment 2

[0084] 1. Construct a virtual gallbladder model and a virtual medical bending forceps model to realize the initialization of the virtual scene.

[0085] All virtual gallbladder and virtual medical bending forceps models in this example are directly in the format of OBJ exported from 3DS MAX 9.0 software, with 1057 particles, 2110 triangle meshes for virtual gallbladder and 461 particles, 921 triangle meshes The virtual medical bending forceps constituted as an example to carry out deformation simulation, the model acquisition and modification is very convenient; the operating platform is Windows 2000, based on 3DS MAX 9.0, OpenGL graphics library, and the simulation is carried out on the VC++6.0 software development platform.

[0086] 2. When it is detected that the virtual medical curved forceps collides with any point on the surface of the virtual gallbladder, under the action of a given virtual contact force F=2.4N, the internal filling of each layer in the local area where ...

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