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between two objects so that penetration of objects cannot occur during an integration time step in the dynamics engine. As a result, the user feels contact forces complete with mechanical advantage. To complete the haptic immersion, physical properties of the blade such as mass, inertia, the first bending mode, and friction are modeled.

The dueling action of Maximum Fencer Deluxe takes place within a fully immersive 3D environment. Carefully animated blades and human models al- low the duelist to see all the details that are felt through the haptic interface. Full-speed haptics and dynamics simulations are run on both the host and client systems to provide both duelists with the ultimate feel of fencing. Finally, a full musical score and a set of finely tuned sound effects complete the illusion of really being there!

Reference:

Sonny Chan and Robert Wilson
Stanford University, 2008

CS277 - Experimental Haptics

Prepare yourself for the ultimate virtual fencing experience! By taking advantage of the latest in haptic
interface technologies, Maximum Fencing Deluxe delivers a truly unique experience that cannot be replicated using any traditional game interfaces. It allows you to virtually and safely duel your friends (or foes) over your local network, and to literally feel the wrath of their blade. The immersive environment is so real that it is no longer just a fencing game, but a simulation!

Point proxies are extremely simple, useful, and intuitive. When it comes to modeling blades, though, they just don't cut it. Maximum Fencer Deluxe features a ray proxy approach similar to one described by Mitra and Niemeyer (Mitra & Niemeyer, Presence 16:4, 2007) that treats each blade as a line segment. The player is coupled to the virtual environment through a digital spring-damper between the device location and the "manipulation point" on the blade, where a fencer would normally control the blade with his thumb and finger. Contact between the blades, guards, and bodies is handled using velocity constraints. These regulate the velocities at the closest points