METHOD FOR SIMULATING INTERACTIONS WITH SOLID BODIES AND THEIR PROCESSING BY DRILL WITH SIMULATING TACTILE FEEDBACK REALIZED ON ECM Russian patent published in 2017 - IPC G09B19/00 

FIELD: physics.

SUBSTANCE: collision detection between the simulated tool and the object, is implemented on the computer to simulate interactions with the solid bodies and to process them by a drill with simulating tactile feedback, that is represented in the form of the continuous equal-sized arrays of voxels, the position of the tool on the object surface is determined, for which the direction of the tool displacement to the desired point is selected, it is verified that the tool will not penetrate on the surface after the tool image displacement on one voxel, the tool is fixed if the displacement attempts without penetration are exhausted, simulation of the material prossessing by the drill is carried out, the material amount is calculated, that can be removed by each voxel of the drill surface, a new point is searched to move the drill with penetration assumption, the remaining material volume is determined, the visual representation of the simulated interactions is updated, the tangential force and feedback force are calculated in a certain way for pulse generation from the haptic device for simulating the tactile interactions.

EFFECT: realistic simulation of the tool.

5 dwg