Systems and methods for implementing haptic systems and simulated environments

A computer program embodied in a processor-readable medium for simulating interaction between a tool and an object, the computer program comprising code segments that direct a processor to:

• provide a tool model for simulating the tool in a simulated environment;
• provide a mesh for simulating the object in the simulated environment, the mesh comprising a plurality of nodes and a plurality of first force functions between pairs of nodes, each first force function being a function of a distance between its corresponding pair of nodes;
• deform the mesh in response to interaction between the tool model and the mesh in the simulated environment, wherein deforming the mesh comprises:
• displacing one or more initially displaced nodes;
• and
• displacing one or more level-one-connected nodes, displacement of each level-one-connected node dependent on at least one first force function between the level-one-connected node and a corresponding one of the one or more initially displaced nodes.

A method for simulating interaction between a tool and an object, the method comprising:

• providing a haptic interface component for simulating operation of the tool by allowing the haptic interface component to move in response to force applied by the user and for providing haptic feedback force to the user;
• providing a tool model for simulating the tool in a simulated environment, the tool model responsive to movement of the haptic interface component by the user;
• providing a mesh for simulating the object in the simulated environment, the mesh comprising a plurality of nodes and a plurality of first force functions between pairs of nodes, each first force function being a function of a distance between its corresponding pair of nodes;
• deforming the mesh in response to interaction between the tool model and the mesh in the simulated environment, wherein deforming the mesh comprises:
• displacing one or more initially displaced nodes to one or more corresponding updated locations;
• and
• displacing one or more level-one-connected nodes, displacement of each level-one-connected node dependent on at least one first force function between the level-one-connected node and a corresponding one of the one or more initially displaced nodes;
• and
• determining the haptic feedback force, at least in part, on the basis of the one or more corresponding updated locations of the initially displaced nodes and the one or more first force functions between the one or more initially displaced nodes and the one or more level-one-connected nodes;
• and
• applying the haptic feedback force to the haptic interface component, such that the haptic feedback force is experienced by the user.

A system for simulating interaction between a tool and an object, the system comprising:

• a haptic interface component for simulating operation of the tool by allowing the haptic interface component to move in response to force applied by the user;
• one or more position sensing systems coupled to the haptic interface component for detecting movement of the haptic interface component;
• one or more force-generating systems coupled to the haptic interface component for providing a haptic feedback force to the user via the haptic interface component;
• a controller configured to:
• provide a tool model for simulating the tool in a simulated environment, the tool model responsive to movement of the haptic interface component detected by the one or more position sensing systems;
• provide a mesh for simulating the object in the simulated environment, the mesh comprising a plurality of nodes and a plurality of first force functions between pairs of nodes, each first force function being a function of a distance between its corresponding pair of nodes;
• deform the mesh in response to interaction between the tool model and the mesh in the simulated environment, wherein deforming the mesh comprises:
• displacing one or more initially displaced nodes to one or more corresponding updated locations;
• and
• displacing one or more level-one-connected nodes, displacement of each level-one-connected node dependent on at least one first force function between the level-one-connected node and a corresponding one of the one or more initially displaced nodes;
• and
• determine the haptic feedback force, at least in part, on the basis of the one or more corresponding updated locations of the initially displaced nodes and the one or more first force functions between the one or more initially displaced nodes and the one or more level-one-connected nodes;
• and
• cause the one or more force-generating systems to apply the haptic feedback force to the haptic interface component, such that the haptic feedback force is experienced by a user.

A method for simulating cutting an object with a tool, the method comprising:

• the method comprising:
• providing a tool model for simulating the tool in a simulated environment, the tool model defining the location of the tool in the simulated environment and comprising at least one simulated tool point and at least one simulated tool axis, the simulated tool point located on the simulated tool axis;
• providing a mesh for simulating the object in the simulated environment, the mesh comprising:
• a plurality of nodes;
• a plurality of first force functions between pairs of nodes, each first force function being a function of a distance between its corresponding pair of nodes;
• and a plurality of faces, each face defined by a corresponding plurality of face-defining nodes from among the plurality of nodes in the mesh and by a corresponding plurality of edges, each edge defined between a corresponding edge-defining pair of the face-defining nodes and each edge associated with a corresponding first force function defined between the corresponding edge-defining pair of nodes;
• determining that the simulated tool axis has intersected with a current contact face from among the plurality of faces and simulating cutting the object with the tool, wherein simulating cutting the object with the tool comprises:
• adding a start-cut node to the mesh at a start-cut location on the current contact face;
• tracking a transition location where the simulated tool axis exits the current contact face;
• and
• adding at least one transition node to the mesh at the transition location.

A system for simulating for simulating cutting an object with a tool, the system comprising:

• an interface component for simulating operation of the tool by allowing the interface component to move in response to force applied by the user;
• one or more position sensing systems coupled to the interface component for detecting movement of the interface component;
• a controller configured to:
• provide a tool model for simulating the tool in a simulated environment, the tool model defining the location of the tool in the simulated environment and comprising at least one simulated tool point and at least one simulated tool axis, the simulated tool point located on the simulated tool axis;
• provide a mesh for simulating the object in the simulated environment, the mesh comprising:
• a plurality of nodes;
• a plurality of first force functions between pairs of nodes, each first force function being a function of a distance between its corresponding pair of nodes;
• and a plurality of faces, each face defined by a corresponding plurality of face-defining nodes from among the plurality of nodes in the mesh and by a corresponding plurality of edges, each edge defined between a corresponding edge-defining pair of the face-defining nodes and each edge associated with a corresponding first force function defined between the corresponding edge-defining pair of nodes;
• determine that the simulated tool axis has intersected with a current contact face from among the plurality of faces and simulate cutting the object with the tool, wherein simulating cutting the object with the tool comprises:
• adding a start-cut node to the mesh at a start-cut location on the current contact face;
• tracking a transition location where the simulated tool axis exits the current contact face;
• and
• adding at least one transition node to the mesh at the transition location.

A method for simulating interaction between a tool and an object, the method comprising:

• providing a tool model for simulating the tool in a simulated environment;
• providing a mesh for simulating an object in the simulated environment, the mesh comprising:
• a plurality of nodes;
• a plurality of first force functions between pairs of nodes, each first force function being a function of a distance between its corresponding pair of nodes;
• and a plurality of second force functions between pairs of nodes, each second force function being a function of a distance between its corresponding pair of nodes, wherein the first and second force functions between each particular pair of nodes are vector functions having opposite directions;
• deforming the mesh in response to interaction between the tool model and the mesh in the simulated environment, wherein deforming the mesh comprises displacing one or more initially displaced nodes, displacement of each initially displaced node dependent on at least one first force function between the initially displaced node and at least one level-one-connected node;
• determining a haptic feedback force in response to interaction between the tool model and the mesh in the simulated environment, wherein the haptic feedback force comprises the sum of one or more component feedback forces from each of the one or more initially displaced nodes, the component feedback force from each initially displaced node dependent on at least one second force function between the initially displaced node and the at least one level-one-connected node.

A system for simulating interaction between a tool and an object, the system comprising:

• a haptic interface component for simulating operation of the tool by allowing the haptic interface component to move in response to force applied by the user;
• one or more position sensing systems coupled to the haptic interface component for detecting movement of the haptic interface component;
• one or more force-generating systems coupled to the haptic interface component for providing a haptic feedback force to the user via the haptic interface component;
• a controller configured to:
• provide a tool model for simulating the tool in a simulated environment;
• provide a mesh for simulating an object in the simulated environment, the mesh comprising:
• a plurality of nodes;
• a plurality of first force functions between pairs of nodes, each first force function being a function of a distance between its corresponding pair of nodes;
• and a plurality of second force functions between pairs of nodes, each second force function being a function of a distance between its corresponding pair of nodes, wherein the first and second force functions between each particular pair of nodes are vector functions having opposite directions;
• deform the mesh in response to interaction between the tool model and the mesh in the simulated environment, wherein deforming the mesh comprises displacing one or more initially displaced nodes, displacement of each initially displaced node dependent on at least one first force function between the initially displaced node and at least one level-one-connected node;
• determine a haptic feedback force in response to interaction between the tool model and the mesh in the simulated environment, wherein the haptic feedback force comprises the sum of one or more component feedback forces from each of the one or more initially displaced nodes, the component feedback force from each initially displaced node dependent on at least one second force function between the initially displaced node and the at least one level-one-connected node.