Smooth force rendering on coarse polygonal meshes

Jun Wu, Yuen Shan Leung, Charlie C.L. Wang, Dangxiao Wang, Yuru Zhang

Research output: Contribution to journalArticlepeer-review


Piecewise linear polygonal model has only G0 continuity, thus users can easily feel the edges when using haptic device to touch a solid represented by coarse polygonal meshes. To produce an appealing haptic sensation for smooth solids, a large number of polygons are needed in conventional approaches. This, however, slows down computation and consumes much more memory. In this paper, we present a method to generate smooth feedback force in haptic interaction with coarse polygonal meshes. Our method calculates the interaction force based on Gregory patches, which are locally constructed from n-sided polygons and ensure G1 continuity across boundaries of patches. During the real time haptic interaction, the contact point is continuously tracked on the locally constructed Gregory patches and thus generates smooth haptic forces to be rendered. Our method is validated on various models with comparison to conventional force rendering techniques.

Original languageEnglish
Pages (from-to)235-244
Number of pages10
JournalComputer Animation and Virtual Worlds
Issue number3-4
Publication statusPublished - 1 May 2010


  • Coarse mesh
  • Force rendering
  • G1 continuity
  • Gregory patch
  • N-sided polygon


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