Especially, the algorithm is suitable for deformable objects, can approximately simulate two-side refraction and can also be simply combined with shadow mapping algorithm, meanwhile the scale of virtual scene has little effect on the algorithm efficiency.

Research on precise collision detection between deformable objects

For a long time force feedback is limited to rigid objects, force rendering of deformable object has more been concerned because of its practicability and realistic meanings.

A discrete element model for the deformable for the deformable bodies was built according to the dynamic equation and the model decomposition Based on the fundamental principle of discrete element method, the contact model was selected and the corresponding theoretical formula deduced.

Framework of the modular shape-shifting robot control system is introduced.

A lattice Boltzmann method is employed to simulate the interaction between the deformable membrane and surrounding fluids.