This paper presents a numerical coarsening method for corotational elasticity, which enables interactive large deformation of high-resolution heterogeneous objects. Our method derives a coarse elastic model from a high-resolution discretization of corotational elasticity with high-resolution boundary conditions. This is in contrast to previous coarsening methods, which derive a coarse elastic model from an unconstrained high-resolution discretization of regular linear elasticity, and then apply corotational computations directly on the coarse setting. We show that previous approaches fail to handle high-resolution boundary conditions correctly, suffering accuracy and robustness problems. Our method, on the other hand, supports efficiently accurate high-resolution boundary conditions, which are fundamental for rich interaction with high-resolution heterogeneous models. We demonstrate the potential of our method for interactive deformation of complex medical imaging data sets.

Abstract Nowadays many interactive computer graphics applications use the haptic channel to achieve higher degrees of immersion. Most of these systems have to deal with soft bodies and they always demand higher and higher levels of realism, increasing the complexity of the animated scenarios. Therefore, the techniques used to animate the objects should be very efficient to grant interactivity. Furthermore, one of the most important issues in physically based simulations is to keep the model stable under all simulation conditions. This paper presents a technique called Separated Proxy—Effector Method (SPEM) to keep high levels of stability in the haptic response without degrading the performance of the simulation system. SPEM is fast, haptic plausible, robust, and it deals with soft bodies. Experimental results show the advantages of this new approach from the point of view of stability, in particular if it is compared with distance‐based minimization techniques. Its simplicity grants efficient implementations for a wide range of applications. Copyright © 2007 John Wiley & Sons, Ltd.