research-article

Efficient and Accurate Collision Response for Elastically Deformable Models

Authors:

Mickeal Verschoor,

Andrei C. JalbaAuthors Info & Claims

ACM Transactions on Graphics (TOG), Volume 38, Issue 2

Article No.: 17, Pages 1 - 20

https://doi.org/10.1145/3209887

Published: 14 March 2019 Publication History

Abstract

Simulating (elastically) deformable models that can collide with each other and with the environment remains a challenging task. The resulting contact problems can be elegantly approached using Lagrange multipliers to represent the unknown magnitude of the response forces. Typical methods construct and solve a Linear Complementarity Problem (LCP) to obtain the response forces. This requires the inverse of the generalized mass matrix, which is generally hard to obtain for deformable-body problems. In this article, we tackle such contact problems by directly solving the Mixed Linear Complementarity Problem (MLCP) and omitting the construction of an LCP matrix. Since a convex quadratic program with linear constraints is equivalent to an MLCP, we propose to use a Conjugate Residual (CR) solver as the backbone of our collision response system. By dynamically updating the set of active constraints, the MLCP with inequality constraints can be solved efficiently. We also propose a simple yet efficient preconditioner that ensures faster convergence. Finally, our approach is faster than existing methods (at the same accuracy), and it allows accurate treatment of friction.

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Index Terms

Efficient and Accurate Collision Response for Elastically Deformable Models
1. Computing methodologies
  1. Computer graphics
    1. Animation
      1. Physical simulation

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Published In

cover image ACM Transactions on Graphics

ACM Transactions on Graphics Volume 38, Issue 2

April 2019

112 pages

ISSN:0730-0301

EISSN:1557-7368

DOI:10.1145/3313807

Editor:
Marc Alexa
TU Berlin, Germany

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Copyright © 2019 ACM.

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Publication History

Published: 14 March 2019

Accepted: 01 January 2019

Revised: 01 October 2018

Received: 01 November 2017

Published in TOG Volume 38, Issue 2

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Cited By

Bai LTao CChen JYu SYu W(2024)Modeling of virtual clothing and its contact with the human bodyAUTEX Research Journal10.1515/aut-2023-003924:1Online publication date: 10-Jul-2024
https://doi.org/10.1515/aut-2023-0039
Qian XZhou YRuan JYu C(2024)Withdrawal model for fiber motions in the tuft disentanglementTextile Research Journal10.1177/0040517523122375894:9-10(1111-1125)Online publication date: 6-Feb-2024
https://doi.org/10.1177/00405175231223758
Guo DLi MYang YLi SWang G(2024)Barrier-Augmented Lagrangian for GPU-based Elastodynamic ContactACM Transactions on Graphics10.1145/368798843:6(1-17)Online publication date: 19-Dec-2024
https://dl.acm.org/doi/10.1145/3687988
Ando R(2024)A Cubic Barrier with Elasticity-Inclusive Dynamic StiffnessACM Transactions on Graphics10.1145/368790843:6(1-13)Online publication date: 19-Dec-2024
https://dl.acm.org/doi/10.1145/3687908
Huang ZTozoni DGjoka AFerguson ZSchneider TPanozzo DZorin D(2024)Differentiable solver for time-dependent deformation problems with contactACM Transactions on Graphics10.1145/3657648Online publication date: 26-Apr-2024
https://dl.acm.org/doi/10.1145/3657648
Huang KChitalu FLin HKomura T(2024)GIPC: Fast and Stable Gauss-Newton Optimization of IPC Barrier EnergyACM Transactions on Graphics10.1145/364302843:2(1-18)Online publication date: 27-Jan-2024
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Shen XCai RBi MLv T(2024)Preconditioned Nonlinear Conjugate Gradient Method for Real-time Interior-point HyperelasticityACM SIGGRAPH 2024 Conference Papers10.1145/3641519.3657490(1-11)Online publication date: 13-Jul-2024
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Ferreira SMueller-Roemer JWeber D(2024)Projection-Based Handling of Contact ConstraintsACM SIGGRAPH 2024 Posters10.1145/3641234.3671075(1-2)Online publication date: 25-Jul-2024
https://dl.acm.org/doi/10.1145/3641234.3671075
Du YLi YCoros SThomaszewski B(2024)Robust and Artefact‐Free Deformable Contact with Smooth Surface RepresentationsComputer Graphics Forum10.1111/cgf.15187Online publication date: 17-Oct-2024
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Zhu SFang CYu PZhai XHao APan J(2024)Efficient frictional contacts for soft body dynamics via ADMMThe Visual Computer: International Journal of Computer Graphics10.1007/s00371-024-03438-840:7(4569-4583)Online publication date: 1-Jul-2024
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