Abstract: The present invention is directed toward providing interactive haptic collision detection between a stationary and a moving object in a virtual reality environment. A user grasps the arm of a haptic device and manipulates an object as viewed on a virtual reality display. As any portion of the manipulated object comes too close to the surface of the stationary object, the haptic device imposes feedback forces against the user's efforts that increase in magnitude as the user manipulates the object beyond a force boundary proximate to the surface of the stationary object. The feedback forces are applied directionally in line with the shortest path between the surfaces at risk of collision. Several measures can be implemented by the user to reduce the computation load involved in constantly comparing the distances between points on the surface of the movable object and points on the surface of the stationary object without seriously compromising the collision detection and avoidance functions of the system.