Patent ID: 8442806

Claim:
A computer-implemented simulation method, comprising: tracking a position of each of a plurality of points of a physical object while the physical object is moved and storing values for a first plurality of nodes in memory, each node corresponding to one of the points; defining a second plurality of nodes in memory, the values of the second plurality of nodes and a set of object constraints representing a simulated object corresponding to the physical object; and determining if a value of at least one of the first plurality of nodes results in a violation of a boundary defined in the simulation; and if a value of at least one of the first plurality of nodes results in a violation of the boundary: setting an updated value for one or more of the second plurality of nodes so that the values of the second plurality of nodes do not result in a violation of the boundary and meet the set of object constraints, accessing a virtual coupling between the first and second plurality of nodes, and determining a force feedback parameter using the virtual coupling and a difference in a value between at least one of the first plurality of nodes and the value of the corresponding one of the second plurality of nodes; if no values of the first plurality of nodes violate the boundary: setting an updated value of each of the plurality of second nodes to the value of the corresponding node of the first plurality of nodes.