<p>Virtual sculpting has evolved significantly, yet existing tools often neglect material physics and haptic rendering critical for realism. This paper presents a real-time immersive sculpting system that integrates material point method (MPM)-based elastoplastic material simulation with haptic rendering. To model the complex elastoplastic behaviors and the seamless interactions with tools within the MPM framework, we address this limitation by introducing a deformation-aware function that dynamically adjusts PK1 stress computation. It enables a seamless shift from elasticity to plasticity in the material. And for the realistic haptic feedback, we proposed a novel three-degree-of-freedom haptic rendering algorithm by solving a nonlinear least-squares problem. Additionally, to alleviate the visual artifacts of the marching cubes approach for surface reconstruction during cutting operations, we proposed a dual-field marching cubes algorithm that maintains topological consistency through adaptive isosurface blending. The experiments demonstrate real-time performance (78.4 FPS at 104k particles) and superior penetration resistance compared to the traditional MPM approach. A user study with 32 participants revealed significantly lower cognitive load (NASA-TLX, <InlineEquation ID="IEq1"> <InlineMediaObject> <ImageObject Color="BlackWhite" FileRef="371_2025_3986_Article_IEq1.gif" Format="GIF" Height="16" Rendition="HTML" Resolution="72" Type="Linedraw" Width="62" /> </InlineMediaObject> <EquationSource Format="TEX">$p<0.05$</EquationSource> <EquationSource Format="MATHML"><math> <mrow> <mi>p</mi> <mo><</mo> <mn>0.05</mn> </mrow> </math></EquationSource> </InlineEquation>) and higher usability (SUS, <InlineEquation ID="IEq2"> <InlineMediaObject> <ImageObject Color="BlackWhite" FileRef="371_2025_3986_Article_IEq1.gif" Format="GIF" Height="16" Rendition="HTML" Resolution="72" Type="Linedraw" Width="62" /> </InlineMediaObject> <EquationSource Format="TEX">$p<0.05$</EquationSource> <EquationSource Format="MATHML"><math> <mrow> <mi>p</mi> <mo><</mo> <mn>0.05</mn> </mrow> </math></EquationSource> </InlineEquation>), with haptic force correlating strongly (r=0.983) with real-world sculpting forces. The proposed framework advances immersive sculpting by unifying physical accuracy, haptic realism, and computational efficiency.</p>

Real-time immersive haptic sculpting with elastoplastic virtual clay

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发表日期：

2025年5月24日

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Peng Yu,
Zhiyang Ji,
Aimin Hao,
Yang Gao

摘要

Virtual sculpting has evolved significantly, yet existing tools often neglect material physics and haptic rendering critical for realism. This paper presents a real-time immersive sculpting system that integrates material point method (MPM)-based elastoplastic material simulation with haptic rendering. To model the complex elastoplastic behaviors and the seamless interactions with tools within the MPM framework, we address this limitation by introducing a deformation-aware function that dynamically adjusts PK1 stress computation. It enables a seamless shift from elasticity to plasticity in the material. And for the realistic haptic feedback, we proposed a novel three-degree-of-freedom haptic rendering algorithm by solving a nonlinear least-squares problem. Additionally, to alleviate the visual artifacts of the marching cubes approach for surface reconstruction during cutting operations, we proposed a dual-field marching cubes algorithm that maintains topological consistency through adaptive isosurface blending. The experiments demonstrate real-time performance (78.4 FPS at 104k particles) and superior penetration resistance compared to the traditional MPM approach. A user study with 32 participants revealed significantly lower cognitive load (NASA-TLX, $p<0.05$ $p < 0.05$ ) and higher usability (SUS, $p<0.05$ $p < 0.05$ ), with haptic force correlating strongly (r=0.983) with real-world sculpting forces. The proposed framework advances immersive sculpting by unifying physical accuracy, haptic realism, and computational efficiency.