When I run the ODE example with the cubes, I sometimes notice that the haptic device "pops" inside of the blocks, in particular when my tool is in contact when multiple objects simultaneously. How can I avoid this artifact?

The finger-proxy algorithm which is used to compute single point contact interactions between mesh objects and haptic devices has its limitations in the presence of dynamic objects. The problem comes from the fact that the proxy is "mass-less" and therefore when the proxy encounters two objects simultaneously, it risks getting "pinched" between both entities and ends up inside one of them. The only effective solution is to model the proxy as a physical object that is part of the dynamic simulation. Examples 04-ODE-tool and 05-ODE-dental illustrate this concept.

Hi,

I am having the same issue. I followed your suggestion to make the proxy a rigid object, but then you have the forces of a rigid object being applied to the object which creates additional artifacts in the interactions which are not simple to go around. Did anyone ever looked more into addressing this issue given the original implementation of the finger-proxy algorithm?

After doing some tests, it appears that this problem happens when there is a very little contact between the objects (the distance between the proxy and the tool is very small), but this is also not consistent to any specific distance value...

Btw, what do you mean with "pinched"?