Haptic Rendering of Mixed Haptic Effects

Commonly, surface and solid haptic effects are separated for haptic rendering. We propose a method for defining surface and solid haptic effects as well as various force fields in 3D cyber worlds containing mixed geometric models, including polygon meshes, point clouds, image-based billboards and layered textures, voxel models and functions-based models of surfaces and solids. We also propose a way how to identify location of the haptic tool in such haptic scenes as well as consistently and seamlessly determine haptic effects when the haptic tool moves in the scenes with objects having different sizes, locations, and mutual penetrations.