When a physical simulation that relies on haptic interaction is temporarily paused due to e.g. visualization, noticeable discontinuities are introduced in the interaction as well as the haptic-feedback. The source of this problem is a discrepancy between the notion of time in the simulation and in the real world. In this paper we analyze the general problem of executing simulation steps that each represent a constant amount of simulation time but are distributed non-uniformly in real world time. We have devised a solution that realigns the two notions of time, hereby insuring smooth interaction data and haptic feedback.
IOS Press, Inc.
6751 Tepper Drive
Clifton, VA 20124
Tel.: +1 703 830 6300
Fax: +1 703 830 2300 email@example.com
(Corporate matters and books only) IOS Press c/o Accucoms US, Inc.
For North America Sales and Customer Service
West Point Commons
Lansdale PA 19446
Tel.: +1 866 855 8967
Fax: +1 215 660 5042 firstname.lastname@example.org