Continuous penalty forces
Abstract
We present a simple algorithm to compute continuous penalty forces to determine collision response between rigid and deformable models bounded by triangle meshes. Our algorithm computes a well-behaved solution in contrast to the traditional stability and robustness problems of penalty methods, induced by force discontinuities. We trace contact features along their deforming trajectories and accumulate penalty forces along the penetration time intervals between the overlapping feature pairs. Moreover, we present a closed-form expression to compute the continuous and smooth collision response. Our method has very small additional overhead compared to previous penalty methods, and can significantly improve the stability and robustness. We highlight its benefits on several benchmarks.
Document Details
- Document Type
- Pub Defense Publication
- Publication Date
- Jul 01, 2012
- Source ID
- 10.1145/2185520.2185603
Entities
People
- Dinesh Manocha
- Miguel A. Otaduy
- Min Tang
- Ruofeng Tong
Organizations
- Army Research Office
- European Research Council
- King Juan Carlos University
- Ministry of Science and Technology of the People's Republic of China
- Ministry of Science of Spain
- National Natural Science Foundation of China
- National Science Foundation
- University of North Carolina at Chapel Hill
- Zhejiang University