A fluid resistance map method for real-time haptic interaction with fluids

ABSTRACT

Haptic interfaces enable us to interact with a virtual world using our sense of touch. This paper presents a method for realizing haptic interaction with water. Our method displays forces acting on rigid objects due to water with a high frame rate (500 Hz). To achieve this, we present a fast method for simulating the dynamics of water. We decompose the dynamics into two parts. One is a linear flow expressed by a wave equation used to compute water waves. The other is a more complex and non-linear flow around the object. The fluid forces due to the non-linear flow is precomputed by solving Navier-Stokes equations, and stored in a database, named the Fluid Resistance Map. The precomputed non-linear flow and the linear flow are combined to compute the forces due to water.

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Index Terms

• Computing methodologies

  • Computer graphics

    • Animation

    • Graphics systems and interfaces

      • Virtual reality

  • Modeling and simulation

    • Model development and analysis

      • Modeling methodologies