IPSI™

IPSI (Interactive Physics Simulation Interface) is a software library for physical simulation with force-feedback developed by Haption in collaboration with CEA-List.
IPSI is used in the implementation of:

• Interactive Fitting for Catia (IFC)
• Interactive Physic Pack (IPP) for Virtools

IPSI is a physics engine and a comprehensive solution to stability problems, model complexity and precision issues in case of industrial applications.

Specificity

• Distributed architecture (client/server) based on the ONC RPC (open standard)
• Multi operating system for the client and the server: Microsoft Windows™, Linux
• Scenes composed of rigid bodies
• Simulation of simple kinematics chains (no closed-loop kinematics)
• Static integration (no inertial forces)
• 6-dof force-feedback output
• Compatibility with all the product line Virtuose™
• Degraded operation without force feedback for 6D mouse (product line 3DConnexion©)
• Compatibility with optical tracking systems from ART©

Architecture

IPSI™ Server

The IPSI server integrates software modules for collision detection (LMD++) and for simulation of movement (GVM) developed by the CEA-List.
It also integrates the software library for collision detection VPS™ (Voxmap PointShell) developed by BOEING/Phantom Works.

IPSI™ API - C++ library of functions for:

• Connecting to the IPSI server locally or over the network
• Loading 3D objects into the scene
• Selecting interaction-enabled objects
• Creating simple kinematics constraints (prismatic, plane, pivot, etc...) and connecting those to objects in the scene
• Associating interaction devices to objects in the scene
• Starting/stopping an interactive simulation
• Updating the position of objects in the scene for visualization