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

  • US 8,576,222 B2
  • Filed: 01/03/2011
  • Issued: 11/05/2013
  • Est. Priority Date: 07/17/1998
  • Status: Expired due to Term
First Claim
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1. A method for interfacing with a virtual object in a haptic virtual environment, the method comprising:

  • generating, by a processor of a computing device, the virtual object comprising a first plurality of discrete points in the haptic virtual environment, 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;

    identifying a first location of a user in real space;

    determining, by the processor, a virtual tool comprising a second plurality of discrete points for use by the user in the haptic virtual environment;

    responsive to identifying the first location of the user in real space, determining, by the processor, a first haptic interface location in the haptic virtual environment;

    receiving information regarding a movement of the user to a second location in real space;

    responsive to the movement, determining, by the processor, a second haptic interface location in the haptic virtual environment;

    determining, by the processor, a proposed movement of the virtual tool towards the virtual surface of the virtual object responsive to the second haptic interface location;

    responsive to the proposed movement of the virtual tool, determining, by the processor, 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;

    calculating, by the processor, a force feedback as a function of the second haptic interface location, whereinthe force feedback corresponds to a resistance of the proposed movement of the virtual tool into the virtual object, andthe 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

    causing, by the processor, a haptic interface device to provide the force feedback to the user.

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