Haptic interaction of arbitrary shapes with pseudo-roughness with consideration for rotation

An increase in polygons on virtual objects causes the delay of the simulation, and as a result, it is difficult to handle haptic interactions which need real-time processing in virtual worlds. In previous studies, some methods have it enable to reduce the number of polygons on objects by representing the roughness of objects surfaces as textures, and as a result they made it possible to reduce processing time. In these conventional methods, however, it is difficult to simulate the interaction of an arbitrary-shaped object with pseudo-roughness, because the conventional methods cannot accept that the object contacts with two or more points of polygons at the same time. In order to solve these problems, our research propose a plural pixels reference method (PPRM), which is an interaction method of merging some pixel values of textures, and it skips the process of copy polygons from the pixels of textures. The experimental result shows that PPRM has faster processing speed than the conventional method under a large number of polygons' condition, and has higher accuracy compared with the conventional method.