Kondo, RyoKanai, TakashiM. Alexa and E. Galin2015-07-202015-07-2020041017-4656https://doi.org/10.2312/egs.20041016In this paper we describe an interactive physically-based animation system for dense meshes. Our method extracts a coarse mesh from an original mesh to make a tetrahedral mesh for the reduction of computational costs. For computing reaction forces we precompute penetration depth values and gradients at mesh vertices by creating a distance field. They are interpolated when collisions are detected and are used for the calculation of forces with a penalty method. Our method can handle dense meshes with physically-based animation and collision response at interactive frame rates.10.2312/egs.20041016