Abstract: The haptic channel is one of the five sensory channels of human. It plays an indispensable role in everyday life. In the virtual reality and augmented reality systems, the haptic feedback is expected to significantly improve immersion and interactivity of human-computer interaction（HCI）. This paper reviews the haptic modeling and rendering technologies in virtual reality environments. From the perspective of the haptic and visual rendering differences, we summarize the history and current situation of research in the haptic field, and analyze the key technology of virtual object modeling, collision detection, collision response, force/torque computation and so on. Finally, we propose trends and future research challenges in haptic rendering.