Haptic interfaces enable us to interact with a virtual world using our sense of touch. This paper presents a method for realizing haptic interaction with water. Our method displays forces acting on rigid objects due to water with a high frame rate (500 Hz). To achieve this, we present a fast method for simulating the dynamics of water. We decompose the dynamics into two parts. One is a linear flow expressed by a wave equation used to compute water waves. The other is a more complex and non-linear flow around the object. The fluid forces due to the non-linear flow is precomputed by solving Navier-Stokes equations, and stored in a database, named the Fluid Resistance Map. The precomputed non-linear flow and the linear flow are combined to compute the forces due to water.
['Yoshinori Dobashi', 'Makoto Sato', 'Shoichi Hasegawa', 'Tsuyoshi Yamamoto', 'Mitsuaki Kato', 'Tomoyuki Nishita']
A fluid resistance map method for real-time haptic interaction with fluids