SPHaptics: A Real-Time Bidirectional Haptic Interaction Framework for Coupled Rigid-Soft Body and Lagrangian Fluid Simulation in Virtual Environments

TL;DR

This paper introduces a real-time, bidirectional haptic interaction framework that unifies fluid, soft-body, and rigid-body simulations in virtual reality, enhancing immersive experience with accurate tactile feedback.

Contribution

A novel unified framework integrating SPH with force coupling and feedback smoothing for real-time haptic interaction across multiple physics domains in VR.

Findings

Enables manipulation of fluid-immersed objects with realistic haptic feedback

Supports interactive scenarios like fluid stirring and soft tissue manipulation

Maintains stability and physical accuracy in real-time multiphysics simulations

Abstract

Haptic feedback enhances immersion in virtual environments by allowing users to physically interact with simulated objects. Supporting accurate force responses in multiphysics systems is challenging because physically based simulation of fluid, rigid, and deformable materials is computationally demanding, especially when interaction must occur in real time. We present a unified framework for real-time, bidirectional haptic interaction with rigid bodies, deformable objects, and Lagrangian fluids in virtual reality (VR). Our approach integrates Smoothed Particle Hydrodynamics (SPH) with two-way force coupling and feedback smoothing to maintain stability and produce physically meaningful tactile responses. This enables users to manipulate objects immersed in fluid and feel reaction forces consistent with fluid-structure behavior. We demonstrate the capabilities of our framework through interactive VR scenarios involving fluid stirring, soft tissue manipulation, and rigid-body interaction. The proposed system advances haptic-enabled multiphysics simulation by unifying fluid, soft-body, and rigid-body dynamics into a single platform suitable for immersive educational applications.