using an event-based approach to improve the multimodal rendering of 6dof virtual contact
This paper decribes a general event-based approach to improve multimodal rendering of 6DOF (degree of freedom) contact between objects in interactive virtual object simulations. The contact events represent the different steps of two objects colliding with each other: (1) the state of free motion , (2) the impact event at the moment of collision (3) the friction state during the contact and (4) the detachment event at the end of the contact. The different events are used to improve the classical feedback by superimposing specific rendering techniques based on these events. First we propose a general method to generate these events based only on the objects' positions given by the simulation. Second, we describe a set of different types of multimodal feedback associated to the different events that we implemented in a complex virtual simulation dedicated to virtual assembly. For instance, we propose a visual rendering of impact, friction and detachment based on particle effects. We used the impact event to improve the 6DOF haptic rendering by superimposing a high frequency force pattern to the classical force feedback. We also implemented a realistic audio rendering using impact and friction sound on the corresponding events. All these first implementations can be easily extended with other event-based effects on various rigid body simulations thanks to our modular approach.
event-based multimodal rendering 6dof contact visual haptic audio