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Interactions haptiques au sein de simulations dynamiques Traitement dynamique des contacts et des chocs entre objets rigides

In this paper, we propose a state of the art on the processing of contacts and impacts in dynamic simulators. We point out the main principle of haptic rendering in interactive simulations in the context of virtual reality. We briefly describe the coupling problematic between the different modules that compose a haptic simulation. Then we propose a survey of the methods that process the interactions between rigid objects. For that we dissociate the methods of interaction detection, from the methods that compute the collision efforts. Then, we discuss the use penalized dynamics and non-smooth dynamics methods for haptic-based simulations.