Friction Handling for Penalty-Based Methods

Abstract
In order to handle collisions between interacting deformable objects, the penalty method is widely employed since it is simple to implement and computationally inexpensive. In this paper a novel penalty method for handling collisions with the focus on the simulation of resting states is proposed. In detail, a novel time-coherent formulation for the static friction forces is presented that reproduces both the resting states and the transitions between sliding and sticking in a physically realistic way. The method is tested on a range of challenging real-time and off-line scenarios, underpinning the conceptual benefits of the approach.
Description

        
@inproceedings{
:10.2312/PE/vriphys/vriphys09/135-144
, booktitle = {
Workshop in Virtual Reality Interactions and Physical Simulation "VRIPHYS" (2009)
}, editor = {
Hartmut Prautzsch and Alfred Schmitt and Jan Bender and Matthias Teschner
}, title = {{
Friction Handling for Penalty-Based Methods
}}, author = {
Lazarevych, Olexiy
and
Spillmann, Jonas
and
Renner, Christoph
and
Szekely, Gabor
and
Harders, Matthias
}, year = {
2009
}, publisher = {
The Eurographics Association
}, ISBN = {
978-3-905673-73-9
}, DOI = {
/10.2312/PE/vriphys/vriphys09/135-144
} }
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