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Continuous penalty forces

Published: 01 July 2012 Publication History

Abstract

We present a simple algorithm to compute continuous penalty forces to determine collision response between rigid and deformable models bounded by triangle meshes. Our algorithm computes a well-behaved solution in contrast to the traditional stability and robustness problems of penalty methods, induced by force discontinuities. We trace contact features along their deforming trajectories and accumulate penalty forces along the penetration time intervals between the overlapping feature pairs. Moreover, we present a closed-form expression to compute the continuous and smooth collision response. Our method has very small additional overhead compared to previous penalty methods, and can significantly improve the stability and robustness. We highlight its benefits on several benchmarks.

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References

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Published In

cover image ACM Transactions on Graphics
ACM Transactions on Graphics  Volume 31, Issue 4
July 2012
935 pages
ISSN:0730-0301
EISSN:1557-7368
DOI:10.1145/2185520
Issue’s Table of Contents
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Publication History

Published: 01 July 2012
Published in TOG Volume 31, Issue 4

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Author Tags

  1. contact force
  2. continuous collision detection
  3. penalty-based methods
  4. robust collision handling

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  • (2022)Collision-aware interactive simulation using graph neural networksVisual Computing for Industry, Biomedicine, and Art10.1186/s42492-022-00113-45:1Online publication date: 7-Jun-2022
  • (2022)ElastoMonolithACM Transactions on Graphics10.1145/3550454.355547441:6(1-19)Online publication date: 30-Nov-2022
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