Abstract: Haptic rendering is a growing concern in the domain of virtual reality.However,it is a great challenge to haptically render highly complex objects in real-time since haptic rendering algorithms,which are sensitive to model complexity,cannot achieve satisfactory haptic display rate.To overcome this problem,a novel haptic-box-based real-time haptic rendering algorithm for quasi-convex objects is proposed in this work.Haptic-box encodes the intersection data of each sample directional ray with the target object.With haptic-box,the contact information between a line segment and the target object can be derived by a single intersection test and 5 bilinear interpolations,and can be directly used to evaluate the feedback force.Experimental results show that the proposed algorithm is insensitive to model complexity and works both effectively and efficiently.