Implicit Contact Handling for Deformable Objects

dc.contributor.authorOtaduy, Miguel A.en_US
dc.contributor.authorTamstorf, Rasmusen_US
dc.contributor.authorSteinemann, Denisen_US
dc.contributor.authorGross, Markusen_US
dc.date.accessioned2015-02-23T10:17:27Z
dc.date.available2015-02-23T10:17:27Z
dc.date.issued2009en_US
dc.description.abstractWe present an algorithm for robust and efficient contact handling of deformable objects. By being aware of the internal dynamics of the colliding objects, our algorithm provides smooth rolling and sliding, stable stacking, robust impact handling, and seamless coupling of heterogeneous objects, all in a unified manner. We achieve dynamicsawareness through a constrained dynamics formulation with implicit complementarity constraints, and we present two major contributions that enable an efficient solution of the constrained dynamics problem: a time stepping algorithm that robustly ensures non-penetration and progressively refines the formulation of constrained dynamics, and a new solver for large mixed linear complementarity problems, based on iterative constraint anticipation. We show the application of our algorithm in challenging scenarios such as multi-layered cloth moving at high velocities, or colliding deformable solids simulated with large time steps.en_US
dc.description.number2en_US
dc.description.seriesinformationComputer Graphics Forumen_US
dc.description.volume28en_US
dc.identifier.doi10.1111/j.1467-8659.2009.01396.xen_US
dc.identifier.issn1467-8659en_US
dc.identifier.pages559-568en_US
dc.identifier.urihttps://doi.org/10.1111/j.1467-8659.2009.01396.xen_US
dc.publisherThe Eurographics Association and Blackwell Publishing Ltden_US
dc.titleImplicit Contact Handling for Deformable Objectsen_US
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