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Availability of physics engines has significantly reduced the effort required to develop interactive applications concerning the simulation of physical world. However, it becomes a problem when kinesthetic feedback is needed in the applications since the incorporation of haptic rendering is nontrivial, where fast haptic data update is demanded for stable rendering. In the regard, a framework for integrating haptic rendering into physics simulation engines is proposed. It mediates thedoi:10.14569/ijacsa.2013.040103 fatcat:gjxsknwhijb45kruhtrkatmwmi