
Models for haptic rendering 377
Figure 16.8 Architecture for haptic rendering by intermediate model
This difficulty in obtaining a simulation frequency that respects the time constraints
of the simulation explains why the first virtual environments that included haptic
feedback were very rudimentary, that is to say with immobile obstacles. The simula-
tion then becomes a mere detection of obstacles and response calculation, making the
most of the environment’s immobility. Several research works were conducted on this
type of environment, and they offered some specific approaches (H-Collide method
by regular subdivision of the space and oriented bounding ...