Integrating PhysX and OpenHaptics: Efficient force feedback generation using physics engine and haptic devices

Leon Sze Ho Chan, Kup Sze Choi

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

11 Citations (Scopus)


Haptic feedback plays an important role to further enhance the level of realism of virtual environments. However, rendering of realistic haptic feedback depends on its coupling to the underlying physics engine that governs the behavior of virtual objects. This paper presents methods to streamline the generation of haptic feedback with physics engine based on Sensable's Open Haptics and nVidia's PhysX Minimal development effort is required to couple these two components. To render the forces due to the interactions between virtual objects, the Error-based method and the Contact Plane Collision Response method are proposed to utilize virtual material stiffness and object collision geometry provided by PhysX The latter method yields more jitter-free output by restricting the haptic interface on one side of the contact plane. While PhysX does not releaseforce informationfrom the engine, an intuitive technique is proposed to simulate a static or dynamic pulling force by introducing a spring between the haptic interface and the object being pulled. The use of these methods provides the desired force feedback without significant changes to the developer's codebase.
Original languageEnglish
Title of host publication2009 Joint Conferences on Pervasive Computing, JCPC 2009
Number of pages6
Publication statusPublished - 1 Dec 2009
Event2009 Joint Conferences on Pervasive Computing, JCPC 2009 - Tamsui, Taipei, Taiwan
Duration: 3 Dec 20095 Dec 2009


Conference2009 Joint Conferences on Pervasive Computing, JCPC 2009
CityTamsui, Taipei

ASJC Scopus subject areas

  • Computational Theory and Mathematics
  • Computer Networks and Communications
  • Computer Science Applications
  • Software

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