Abstract
Physics-based fluid interaction plays an important role in computer animation, with wide applications in virtual reality, computer games, digital entertainment, etc. For example, in virtual reality education and games, we often need fluid interactions like acting as an alchemist to create a potion by stirring fluid in a crucible. The traditional input devices such as a mouse and keyboard can basically input 2D information without feedback. In recent years, the continuous development of haptic device not only can achieve six degrees-of-freedom input, but also can calculate the force in virtual scenes and feedback to the user to make a better virtual experience. How to use haptic device in different kinds of virtual fluid scenarios to provide better experience is an important issue in the field of virtual reality. On the other hand, the researches on multiple-fluid interaction especially based on smoothed particle hydrodynamics (SPH) method are very lacking. Therefore, we study the key techniques of haptic interaction with SPH multiple-fluid to compensate this defect in computer graphics community. Different from the single-phase flow, interaction with multiple-fluid flow has difficulties in the realization of properties of different phases. After adding the multiple-fluid simulation, it is also important to keep haptic interaction real time. Our research is based on the mixture model. We guarantee the authenticity of multiple-fluid mixing effect while changing the drift velocity solver to improve efficiency. We employ a unified particle model to achieve rigid body–liquid coupling, and use FIR filter to smooth feedback force to the haptic device. Our novel multiple-fluid haptic simulation can provide an interactive experience for mixing liquid in virtual reality.
Similar content being viewed by others
References
Amada T, Imura M, Yasumuro Y, Manabe, Y, Chihara K (2004) Particle-based fluid simulation on GPU. In: Proc. of ACM workshop on general-purpose computing on graphics processors, pp 342–343
Bao K, Wu X, Zhang H, Wu E (2010) Volume fraction based miscible and immiscible fluid animation. Comput Anim Virtual Worlds 20(3–4):401–410
Baxter W, Lin MC (2004) Haptic interaction with fluid media. In: Proc. of graphics interface, pp 81–88
Cirio G, Marchal M, Hillaire S et al (2011) Six degrees-of-freedom haptic interaction with fluids. IEEE Trans Visual Comput Gr 17(11):1714–1727
Cirio G, Marchal M, Otaduy MA, et al. (2013) Six-Dof haptic interaction with fluids, solids, and their transitions. In: Proc. of world haptics conference (WHC), pp 157–162
Dobashi Y, Yamamoto T, Sato M et al (2007) A precomputed approach for real-time haptic interaction with fluids. IEEE Comput Gr Appl 27(3):90–92
Harada T, Koshizuka S, Kawaguchi Y (2007) Smoothed particle hydrodynamics on GPUs. In: Proc. of computer graphics international, pp 63–70
Höver R, Kosa G, Székely G, Harder M (2009) Data-driven haptic rendering-from viscous fluids to visco-elastic solids. IEEE Trans Haptics 2(1):15–27
Karadogan E, Williams RL (2013) Haptic modules for palpatory diagnosis training of medical students. Virtual Real 17:45–58
Kim B (2010) Multi-phase fluid simulations using regional level sets. ACM Trans Gr 29(6):175
Liu G, Zhang Y, Wang D, Townsend WT (2008) Stable haptic interaction using a damping model to implement a realistic tooth-cutting simulation for dental training. Virtual Real 12:99–106
Liu S, Liu Q, Peng Q (2011) Realistic simulation of mixing fluids. Visual Comput 27(3):241–248
Luciano C, Banerjee PP, DeFanti TA (2009) Haptics-based virtual reality periodontal training simulator. Virtual Real 13:69–85
Ma N, Liu Y, Qiao A, et al. (2008) Design of three-dimensional interactive visualization system based on force feedback device. In: Proc. of the 2nd international conference on bioinformatics and bio-medical engineering, pp 1780–1783
Menelas B, Ammi B, Pastur L, et al. (2009) Haptical exploration of an unsteady flow. In: Proc. of euro haptics conference, pp 232–237
Misztal MK, Erleben K, Bargteil A et al (2014) Multiphase flow of immiscible fluids on unstructured moving meshes. IEEE Trans Visual Comput Gr 20(1):4–16
Moore M, Wilhelms J (1988) Collision detection and response for computer animation. Comput Gr 22(4):289–298
Mora J, Lee WS (2008) Real-time 3D fluid interaction with a haptic user interface. In: Proceedings of IEEE Symposium of 3D User Interfaces, pp 75–81
Mora J, Lee W S (2007) Real-time fluid interaction with a haptic device. In Proceedings of Haptic, Audio and Visual Environments and Games, pp 160–165
Müller M, Charypar D, Gross M (2003) Particle-based fluid simulation for interactive applications. In: Proc. of ACM SIGGRAPH/eurographics symposium on computer animation, pp 154–159
Müller M, Solenthaler B, Keiser R, Gross M H (2005) Particle-based fluid-fluid interaction. In: Proc. of the 2005 ACM SIGGRAPH/eurographics symposium on computer animation, pp 237–244
Pier JM, Figueroa I, Huegel J (2011) CUDA-enabled particle-based 3D fluid haptic simulation. In: Proc. of electronics, robotics and automotive mechanics conference (CERMA), pp 391–396
Ren B, Li C, Yan X, Lin MC, Bonet J, Hu SM (2014) Multiple-fluid SPH simulation using a mixture model. ACM Trans Gr 33(5):171
Sun H, Wang H, Chen H, Qin K (2007) Touch-enabled haptic modeling of deformable multi-resolution surfaces. Virtual Real 11(1):45–60
Tavakoli M, Patel RV, Moallem M (2006) A haptic interface for computer-integrated endoscopic surgery and training. Virtual Real 9:160–176
Yang M, Lu J, Safonova A, et al. (2009) GPU methods for real-time haptic interaction with 3D fluids. In: Proc. of haptic audio visual environments and games, pp 24–29
Yang T, Chang J, Ren B, Lin MC, Zhang JJ, Hu SM (2015) Fast multiple-fluid simulation using Helmholtz free energy. ACM Trans Gr 34(6):201
Yoganandan AR, Banerjee PP, Luciano C, Rizzi SH (2012) Prototyping flexible touch screen devices using collocated haptic-graphic elastic-object deformation on the GPU. Virtual Real 16(1):33–43
Zhang Y, Solenthaler B, Pajarola R (2008) Adaptive sampling and rendering of fluids on the GPU. In: Proc. of the fifth eurographics/IEEE VGTC conference on point-based graphics, pp 137–146
Acknowledgements
The authors would like to thank the anonymous reviewers for their insightful comments. This work was supported by the Natural Science Foundation of China under Grant nos. 61672375 and 61170118, and the Application Foundation Research Plan Project of Tianjin under Grant no. 14JCQNJC00100.
Author information
Authors and Affiliations
Corresponding author
Electronic supplementary material
Below is the link to the electronic supplementary material.
Rights and permissions
About this article
Cite this article
Zhang, X., Liu, S. SPH haptic interaction with multiple-fluid simulation. Virtual Reality 21, 165–175 (2017). https://doi.org/10.1007/s10055-017-0308-1
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10055-017-0308-1