Interaction engine for creating a realistic experience in virtual reality/augmented reality environments

A non-transitory computer readable medium impressed with instructions for determining a friction response to a soft contact collision between at least one of a set of virtual objects defined according to virtual object definitions and a portion of a colliding hand that collides in a logical frame defined by a real time physics engine (RTPE) including a simulation of rigid bodies in a physical system that satisfies a human visual system's expectations for interactions with virtual objects in a virtual environment, using real motions of one or more hands in a three-dimensional (3D) sensory space, which instructions, when executed by one or more processors, perform:

• determining a first solution of interactions between at least one virtual object in a set of virtual objects simulated as rigid bodies and a representation of at least one hand, the first solution including a friction response to a soft contact collision between the at least one virtual object of the set of virtual objects and a portion of the at least one hand colliding with the at least one virtual object;
• determining a second solution of interactions of the at least one virtual object in the set of virtual objects simulated as rigid bodies with a surface in the virtual environment absent any effects of the at least one hand;
• and
• integrating the first solution with the second solution, wherein results of the second solution are prioritized over results of the first solution.

A system including:

• an imaging sensor and a controller including one or more processors and a computer readable medium storing instructions for determining a friction response to a soft contact collision between at least one of a set of virtual objects defined according to virtual object definitions and a portion of a colliding hand that collides in a logical frame defined by a real time physics engine (RTPE) including a simulation of rigid bodies in a physical system that satisfies a human visual system's expectations for interactions with virtual objects in a virtual environment, using real motions of one or more hands in a three-dimensional (3D) sensory space, which instructions, when executed by the one or more processors, perform:
• determining a first solution of interactions between at least one virtual object in a set of virtual objects simulated as rigid bodies and a representation of at least one hand, the first solution including a friction response to a soft contact collision between the at least one virtual object of the set of virtual objects and a portion of the at least one hand colliding with the at least one virtual object;
• determining a second solution of interactions of the at least one virtual object in the set of virtual objects simulated as rigid bodies with a surface ni the virtual environment absent any effects of the at least one hand;
• and
• integrating the first solution with the second solution, wherein results of the second solution are prioritized over results of the first solution.