CHAI3D methodology

CHAI 3D is an open source set of C++ libraries, allowing development of simulation programs supporting 3D virtual reality and haptic devices, permitting a new experience for simulators.


In fact, this framework was conceived basically from simple theorems of Newtonian physics, which make it comprehensible.   

This diagram resumes in someway the methodology of CHAI3D.

Graphics Engine : gives a Virtual Environment and renders it on a display. This class is not about graphics. CHAI3D makes it easy to couple haptics and graphics

Simulation Engine : computes state of VE

– virtual objects

– user’s avatars (tool, hand, …)

So you can use haptic device to physically interact with the VE

– optical encoders measure position of end effector
– actuators apply forces to the user
– haptic rendering algorithms compute such forces given
the new positions