Haptic and graphic rendering of deformable objects based on GPUs

In this paper we present a new method for realtime interactive haptic and graphic rendering of complex objects locally deformed by multiple contacts. Core algorithms have been designed to be executable also on videoboard’s GPU, thus taking advantage of parallel matrix and vector computational power. Although complex physical simulation has been simplified to run on GPUs, results are characterized by high visio-tactile realism perceived by users. Graphical rendering algorithms can be easily added to pre-existing vertex shaders/programs. The proposed method makes use of common triangular meshes, thus making the method a good choice when adding haptic feedback to existing graphical applications