Generalized God-Objects: a Paradigm for Interacting with Physically-Based Virtual World

In this paper, we show a method to interact with physically-based environments in a way which guarantee their integrity whatever the mechanical properties of the virtual interaction tool and the control device. It consists in an extension of the god-object concept. The interaction tools are modeled as physical bodies which tend to reach, if possible, the position maintained by the user. Their behavior is computed via the dy-namic laws of motion by the simulation engine, as the other bodies in the scene. The cases of articulated rigid bodies and deformable bodies are studied. This mechanism also provides a unified framework which allows the control of virtual objects via devices providing force feedback or not. Finally, some applications including virtual surgery are shown to illustrate the effectiveness of the approach.