Simulation of Flexible Parts

It is of vital importance for the overall impression and user acceptance of the VISTRA training system that the user can interact with flexible parts, e.g. cables, hoses and complex wiring harnesses (Figure 1 and Figure 2), in a realistic way. Such objects may undergo large deformations and their shape must be calculated in real time. Relevant physical behaviors like stretching, bending, twisting, influence by gravity, and contact with the environment and other flexible objects must be taken into account. Moreover, constraints in terms of attachments to other rigid or flexible objects or manipulation by the user must be obeyed at any time.