Systems, devices, and methods for physical surface tracking with a stylus device in an AR/VR environment

A stylus tracking system for use in an AR/VR environment, the stylus tracking system comprising:

• one or more processors;
• and
• a set of one or more sensors controlled by the one or more processors and configured to generate sensor data, the sensor data including location data usable to derive a location of a stylus device;
• wherein the one or more processors are configured to:
• determine a location of a tip of the stylus device based on the location data;
• determine a location of a virtual surface in the AR/VR environment;
• determine virtual surface characteristics of the virtual surface;
• generate a haptic output on the stylus device when the tip of the stylus device makes contact with the virtual surface in the AR/VR environment, the haptic output based on the virtual surface characteristics of the virtual surface;
• determine when a scaling of the virtual surface has changed;
• and
• modify the haptic output on the stylus device based on the scaling of the virtual surface.