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中文摘要：
力/触觉再现技术的出现，为虚拟现实开辟了全新的应用领域，促使基于物理意义的柔性物体形变建模成为一个研究热点．系统地讨论了近年来基于物理意义的柔性物体形变建模方法，分析了基于直接构建的模型、基于连续介质力学的模型和其他相关模型的基本思想和优缺点．对这些建模方法的性能进行了细致的比较，并探讨了柔性物体物理形变建模的未来发展趋势．
英文摘要：
Haptic rendering broadens the application fields of virtual reality extensively. Simulating the behavior of deformable objects becomes a core challenge in haptic rendering, which demands the trade-off between the real-time interactivity and the realism. In this paper, we classify various physically-based deformable models that have been developed, including mass-spring models, linked- volume models, finite-element-method models, boundary-element-method models, point-collocation models, tense-mass models, and hybrid models. The basic principles, advantages and disadvantages of those models are presented respectively. Finally, we carry out a comparison of these models and also suggest directions for the future investigation.
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