UDEC Haptic SIM
Controls
- WASD -- Move probe XZ
- Q/E -- Probe up/down
- G -- Toggle grab mode
- P -- Toggle push mode
- Arrows -- Move selected body
- Left-drag -- Orbit camera
- Scroll -- Zoom
- Right-drag -- Pan
Physics
Force: F = -k*(probe - surface) - b*velocity
Collision: Selectable spatial structures (AABB/OBB/Octree/BVH)
Red faces = AABB overlap between triangles of different bodies
Deformable Bodies
MSD: Mass-Spring-Damper with semi-implicit Euler
XPBD: Extended Position-Based Dynamics with distance constraints
Probe Modes
Free: Default, probe only senses forces
Grab: Grab nearest body and drag it (press G)
Push: Push deformable body vertices (press P)
Spatial Structures
AABB: Axis-aligned bounding boxes (fast, default)
OBB: Oriented bounding boxes with PCA axes
Octree: 8-child recursive spatial subdivision
BVH: Binary bounding volume hierarchy