Nonsmooth Newton Method for Fischer Function Reformulation of Contact Force Problems for Interactive Rigid Body Simulation

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Date
2009
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The Eurographics Association
Abstract
In interactive physical simulation, contact forces are applied to prevent rigid bodies from penetrating each other. Accurate contact force determination is a computationally hard problem. Thus, in practice one trades accuracy for performance. The result is visual artifacts such as viscous or damped contact response. In this paper, we present a new approach to contact force determination. We reformulate the contact force problem as a nonlinear root search problem, using a Fischer function. We solve this problem using a generalized Newton method. Our new Fischer - Newton method shows improved qualities for specific configurations where the most widespread alternative, the Projected Gauss-Seidel method, fails. Experiments show superior convergence properties of the exact Fischer - Newton method.
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@inproceedings{
:10.2312/PE/vriphys/vriphys09/105-114
, booktitle = {
Workshop in Virtual Reality Interactions and Physical Simulation "VRIPHYS" (2009)
}, editor = {
Hartmut Prautzsch and Alfred Schmitt and Jan Bender and Matthias Teschner
}, title = {{
Nonsmooth Newton Method for Fischer Function Reformulation of Contact Force Problems for Interactive Rigid Body Simulation
}}, author = {
Silcowitz, Morten
and
Niebe, Sarah
and
Erleben, Kenny
}, year = {
2009
}, publisher = {
The Eurographics Association
}, ISBN = {
978-3-905673-73-9
}, DOI = {
/10.2312/PE/vriphys/vriphys09/105-114
} }
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