A method is disclosed for mapping a location in haptic space. The method comprises the steps of: a) defining a voxel space comprising a plurality of voxel elements； b) defining a polygonal space comprising a plurality of polygonal rendering elements； c) generating a data structure of each of the voxel elements and its respective polygonal rendering elements； d) locating a point in haptic space； e) mapping that point to a corresponding voxel element； and f) selecting, in the data structure, at least one polygonal rendering element.
