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Everything means each step of the simulation loop which are :
1st, get the tools’ positions, then detect collisions between the tools and the organ. Take these collisions into account and simulate the deformable model. From the deformation of the organ, we must compute the forces applied on the tools. Then, we need to refresh the display and to send forces back to the force feedback devices.
Most of these points are studied by our research group. This talk focuses on the collision detection algorithm.