In making fully immersive augmented reality (AR) applications, real and virtual objects will have to be seen to physically interact together in a realistic and believable way. This paper describes Forked! a system that has been developed to show how physical interactions between real and virtual objects can be simulated realistically and believably through appropriate use of a physics engine. The system allows users control a robotic forklift to manipulate virtual crates in an AR environment. The paper also describes a evaluation experiment in which it is shown that the physical interactions between the forklift and the virtual creates are realistic and believable enough to be comparable with the physical interactions between a forklift and real crates.

The next generation of Augmented Reality (AR) games will require real and virtual objects to coexistin motionin immersive game environments. This will require the illusion that real and virtual objects interact physically together in a plausible way. TheMotion in Augmented Reality Games(MARG) engine described in this paper has been developed to allow these kinds of game environments. The paper describes the design and implementation of the MARG engine and presents two proof-of-concept AR games that have been developed using it. Evaluations of these games have been performed and are presented to show that the MARG engine takes an important step in developing the next generation of motion-rich AR games.