ABSTRACT
The second part of this book focuses on the rendering algorithm of a haptic interface system. It presents several techniques commonly used for computing interactions between virtual objects and for displaying the contact forces to a user. The collection of chapters covers different aspects of the rendering algorithm, such as collision detection and contact force computation, with the specific challenges and solutions associated with different configuration spaces (such as 3D point, 3D object, etc.), material properties (rigid vs. solid), or model descriptions (polygonal surface, parametric surface, etc.).
