Résumé
In this paper we present HapCo, a real time physics-based simulator of interaction between deformable objects with haptic force feedback for scenarios involving friction multiple contacts. The discrete modeling of the elastic bodies is achieved by the Finite Element Method (FEM). In real time, the rigid displacements are applied to an elastic object by means of a PHANTOM desktop. A force is computed and returned to this haptic device when a collision occurs with a second clamped elastic solid. This force feedback takes into account the linear elasticity laws and the friction contact laws (Signorini and Coulomb) of the elastic bodies in contact. So, we introduce two algorithms to calculate efficiently the friction multi-contact forces occurring between two deformable objects. These two algorithms are based on the bi-potential formulation of the contact laws, offering the control of the solution at each contact point through a unique operator of projection as well as a better force feedback stability . According to the rendering visual feedback given, the elastic deformations of the bodies computed by the Finite Element Method look physically realistic.