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Computational vademecums for the real-time simulation of haptic collision between nonlinear solids

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Academic year: 2021

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Figure

Figure 1: Sketch of the collision detection algorithm. Solid Ω 1 is equipped with a distance field, represented in the Figure, while solid Ω 2 is represented, for collision detection  pur-poses, as a pointshell, i.e., a collection of boundary nodes and nor
Figure 2: First two modes of the beam model, depending on the physical coordinates x (top) and load position s (bottom).
Figure 3: Collision between a beam and a rigid block for one of the 170 possible load locations in the model
Figure 4: Collision between two beams running on an html web page with embedded javascript
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