Systems and methods for interfacing with a virtual object in a haptic virtual environment

A system for interfacing with a virtual object in a haptic virtual environment, the system comprising:

• a haptic interface device, wherein the haptic interface device is configured to sense a current location of a user in real space;
• and
• a modeling application for modeling
• the virtual object comprising a first plurality of discrete points, wherein the virtual object comprises a virtual surface, wherein voxel density values associated with the first plurality of discrete points define a shape of the virtual object, and wherein each discrete point of the first plurality of distinct points having a density value greater than a density threshold is determined to be inside the virtual object, and
• a virtual tool comprising a second plurality of discrete points for use by the user in the haptic virtual environment,
• wherein the modeling application is configured, when executed by a processor of a computing device, to:
• determine a haptic interface location in the haptic virtual environment corresponding to the current location of the user in real space,
• receive, from the haptic interface device, information identifying a movement to an updated current location of the user in real space,
• determine, based upon the information, a second haptic interface location in the haptic virtual environment,
• responsive to the second haptic interface location, determine a proposed movement of the virtual tool towards the virtual surface of the virtual object,
• responsive to the proposed movement of the virtual tool, determine penetration of one or more discrete points of the second plurality of discrete points of the virtual tool into the virtual surface of the virtual object,
• calculate a force feedback as a function of the second haptic interface location, wherein
• the force feedback corresponds to a resistance of the movement of the virtual tool into the virtual object, and
• the force feedback is calculated based in part upon a determination that at least one of the one or more discrete points of the second plurality of discrete points of the virtual tool has encountered a discrete point of the first plurality of discrete points of the virtual object having a voxel density value greater than the density threshold, and
• cause the haptic interface device to provide the force feedback to the user.