Combined Static-Dynamic Deformations with Haptic Rendering

We present a real-time, physically based simulation method for animating high-resolution elastic deformations with a focus on haptic interaction. To achieve interactive rates without losing accuracy, the reduced material stiffness matrix is precomputed by removing the equations that correspond to the internal nodes of the system. In addition, we employ linear modal analysis to precompute the natural vibration modes of the system. We introduce a deformation-coupling technique in order to achieve the reduced dynamic behaviour while keeping the high-resolution local deformations. To explore the implications of the coupling system, we describe different integration techniques to time-step the reduced dynamic solution in addition to evaluating the force feedback. Moreover, we show how we handle multiple contact points for non-sticky materials. To improve the contact-handling procedure, we employ our sliding technique to include friction. We compare our proposed method to the previously existing techniques in terms of run-time complexity and deformation properties using 3D meshes embedded in finite elements.

Yas grew up in Iran where she obtained a B.Sc. in Computer Engineering from University of Tehran. She moved to Montreal in 2009, where she obtained her M.Sc. from McGill University. Her research area was Computer Graphics and physically based animation. She joined Morgan Stanley in 2012 where she now works as a technology associate.