A comparative study between real force made in experiment and virtual force made in octree-based algorithm

In this paper, we improve the precision of an efficient algorithm for generating a virtual impulse force between static and dynamic objects in a 3D graphics environment. The authors proposed an efficient algorithm to generate a virtual impulse force based on the octree representation. In the octree representation, all patches of objects are synchronously sorted by X, Y, and Z axes, and therefore their interference can be picked up by the synchronous binary search on the three axes. In fact, collisions between two objects with hundred or more patches can be retrieved less than a few milli-second at a popular personal computer. Because of the performance, the algorithm can be used in a sensor feedback control. The leftover problem of our algorithm is to increase a reality of a generated force. In this research, we assume both objects are defined as iron. In this case, to find an initial contact between vertex and patch of different objects or edge and edge of them is great importance. For this purpose, we develop an efficient algorithm to find the initial contact. Then, we build models of contact and friction and calibrate them by comparing a real force made in an experiment with a virtual force generated by our algorithm. By the experimental comparison, we increase the precision of an impulse force composed of contact and friction forces in our algorithm.