近年来，随着虚拟现实技术不断发展，三维虚拟学习环境在教育教学领域应用前景日趋广阔，如沉浸式物理教学。然而，大多数现有的虚拟学习环境只能提供视觉与听觉的交互，不支持力触觉交互。因此，将力反馈技术应用于虚拟物理学习环境逐渐成为研究热点。基于单个触点的力反馈技术具有简单高效、易于实现的特点，但难以真实模拟现实世界中的物理交互。本文提出了一种基于穿透体积的支持多个触点的力反馈计算模型，介绍了其计算原理及实现过程。同时，将该力反馈计算模型应用于沉浸式物理学习环境，搭建系统并设计实验以评估力反馈技术在沉浸式物理学习中的应用效果。采用前测和后测的随机实验设计，将招募的38名参与者随机分配为实验组和对照组，实验前后收集学习者的相关概念知识、存在感和交互效果三个方面的数据。结果显示，在VR沉浸式物理学习中使用力反馈技术可以显著提高学习者的真实感和交互效率，但对知识增益没有产生显著性影响。

In recent years, with the continuous development of virtual reality technology, the application prospect of 3D virtual learning environments in the field of education and teaching is getting broader, such as immersive physics education. However, most existing virtual learning environments could only provide visual and auditory interaction and did not support haptic interaction. Therefore, the application of force feedback technology to virtual physics learning environments had gradually become a research hotspot. Single-contact force feedback is simple, efficient, and easy to implement, but it is difficult to simulate physical interaction in the real world. In this paper, a force feedback model based on penetration volume supporting multiple contacts was proposed, and its calculation principle and implementation process were introduced. At the same time, the force feedback model was applied to the immersive physics learning system. And the experiment was designed to evaluate the application effectiveness of force feedback technology in immersive physics learning. A pre-test and post-test random experimental design was adopted, and 38 participants were randomly assigned to the experimental and control groups. Before and after the experiment, data were collected on learners' relevant conceptual knowledge, sense of presence, and interaction effect. The results showed that the use of force feedback technology in VR immersive physics learning could significantly improve learners' sense of realism and interaction efficacy, but had no significant effect on knowledge gain.