Haptic feedback enhances immersion in virtual environments by allowing users to physically interact with simulated objects. Supporting accurate force responses in multiphysics systems is challenging because physically based simulation of fluid, rigid, and deformable materials is computationally demanding, especially when interaction must occur in real time. We present a unified framework for real-time, bidirectional haptic interaction with rigid bodies, deformable objects, and Lagrangian fluids in virtual reality (VR). Our approach integrates Smoothed Particle Hydrodynamics (SPH) with two-way force coupling and feedback smoothing to maintain stability and produce physically meaningful tactile responses. This enables users to manipulate objects immersed in fluid and feel reaction forces consistent with fluid-structure behavior. We demonstrate the capabilities of our framework through interactive VR scenarios involving fluid stirring, soft tissue manipulation, and rigid-body interaction. The proposed system advances haptic-enabled multiphysics simulation by unifying fluid, soft-body, and rigid-body dynamics into a single platform suitable for immersive educational applications.

翻译：触觉反馈通过允许用户与模拟物体进行物理交互，增强了虚拟环境的沉浸感。在多物理场系统中支持精确的力响应具有挑战性，因为基于物理的流体、刚体和可变形材料的仿真计算量巨大，尤其是在需要实时交互的情况下。本文提出了一种统一的框架，用于在虚拟现实（VR）中实现与刚体、可变形物体和拉格朗日流体的实时双向触觉交互。我们的方法将光滑粒子流体动力学（SPH）与双向力耦合及反馈平滑技术相结合，以保持稳定性并产生物理意义明确的触觉响应。这使得用户能够操控浸没在流体中的物体，并感受到与流固耦合行为一致的反作用力。我们通过涉及流体搅拌、软组织操控和刚体交互的交互式VR场景，展示了该框架的功能。所提出的系统通过将流体、软体和刚体动力学统一到适用于沉浸式教育应用的单一平台，推进了具备触觉功能的多物理场仿真。