Patent ID: 6421048
Filing Date: 2002-07-16
Classification: B33Y,G06F,G06T

Abstract:
A method for interfacing with a virtual object in a haptic virtual environment, comprising:generating a virtual object comprising a virtual surface in the haptic virtual environment; sensing a location of a user in real space; determining a virtual tool comprising a plurality of discrete points for use by the user in the haptic virtual environment; determining a haptic interface location in the haptic virtual environment in response to the location of the user in real space; determining locations for the plurality of discrete points of the virtual tool in the haptic virtual environment in comparison to the haptic interface location and a location of the virtual surface; determining if at least one of the plurality of discrete points of the virtual tool penetrates the virtual surface; if at least one of the plurality of discrete points penetrates the virtual surface, determining a geometry for the virtual surface at an area of penetration of the virtual tool; and limiting movement of the virtual tool based on (i) the geometry of the virtual surface, (ii) at least one location of at least one of the plurality of discrete points, and (iii) the haptic interface location.