A GPU-friendly Method for Haptic and Graphic Rendering of Deformable Objects

In this paper we present a new method for real-time inter- active haptic and graphic rendering of complex objects locally deformed by multiple contacts. Core algorithms have been designed to be exe- cutable also on videoboard's GPU, thus taking advantage of parallel ma- trix and vector computational power. Although complex physical simula- tion has been simpli¯ed to run on GPUs, results are characterized by high visio-tactile realism perceived by users. Graphical rendering algorithms can be easily added to pre-existing vertex shaders/programs. The pro- posed method makes use of common triangular meshes, thus making the method a good choice when adding haptic feedback to existing graphical applications.