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A new methodology to evaluate the performance of physics simulation engines in haptic virtual assembly

机译：评估触觉虚拟装配中物理仿真引擎性能的新方法

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In this study a new methodology to evaluate the performance of physics simulation engines when used in haptic virtual assembly applications is proposed. This methodology can be used to assess the performance of any physics engine. To prove the feasibility of the proposed methodology, two third party physics simulation engines - Bullet and PhysXtm - were evaluated. Eight assembly tests comprising variable geometric and dynamic complexity were conducted. The strengths and weaknesses of each simulation engine for haptic virtual assembly were identified by measuring different parameters such as task completion time, influence of weight perception and force feedback. The proposed tests have led to the development of a standard methodology by which physics engines can be compared and evaluated. The results have shown that when the assembly comprises complex shapes, Bullet has better performance than PhysX. It was also observed that the assembly time is directly affected by the weight of virtual objects. A more comprehensive study must be carried out in order to evaluate and compare the performance of more physics simulation engines. The influence of collision shape representation algorithms on the performance of haptic assembly must be considered in future analysis. The performance of physics simulation engines in haptic-enabled VR applications had been remained as an unknown issue. The main parameters of physics engines that affect the haptic virtual assembly process have been identified. All the tests performed in this study were carried out with the haptic rendering loop active and the objects manipulated through the haptic device.
机译：在这项研究中，提出了一种新的方法来评估物理仿真引擎在触觉虚拟装配应用中的性能。此方法可用于评估任何物理引擎的性能。为了证明该方法的可行性，对两个第三方物理仿真引擎-Bullet和PhysXtm-进行了评估。进行了八次组装测试，包括可变的几何和动态复杂性。通过测量不同的参数（例如任务完成时间，重量感知的影响和力反馈），可以确定用于虚拟触觉装配的每个仿真引擎的优缺点。提出的测试导致了标准方法的发展，通过该方法可以比较和评估物理引擎。结果表明，当装配体包含复杂形状时，Bullet的性能优于PhysX。还观察到组装时间直接受虚拟物体重量的影响。为了评估和比较更多物理模拟引擎的性能，必须进行更全面的研究。将来的分析中必须考虑碰撞形状表示算法对触觉组件性能的影响。启用触觉的VR应用程序中的物理仿真引擎的性能仍然是一个未知的问题。已经确定了影响触觉虚拟装配过程的物理引擎的主要参数。在这项研究中执行的所有测试都是在激活触觉渲染环并通过触觉设备操纵对象的情况下进行的。

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