Implicit contact handling for deformable objects (original) (raw)

Dynamic Interaction between Deformable Surfaces and Nonsmooth Objects

IEEE Transactions on Visualization and Computer Graphics, 2005

In this paper, we introduce new techniques that enhance the computational performance for the interactions between sharp objects and deformable surfaces. The new formulation is based on a time-domain predictor-corrector model. For this purpose, we define a new kind of (π, β, I)-surface. The partitioning of a deformable surface into a finite set of (π, β, I)-surfaces allows us to prune a large number of noncolliding feature pairs. This leads to a significant performance improvement in the collision detection process. The intrinsic collision detection is performed in the time domain. Although it is more expensive compared to the static interference test, it avoids portions of the surfaces passing through each other in a single time step. In order to resolve all the possible collision events at a given time, a penetration-free motion space is constructed for each colliding particle. By keeping the velocity of each particle inside the motion space, we guarantee that the current colliding feature pairs will not penetrate each other in the subsequent motion. A static analysis approach is adopted to handle friction by considering the forces acting on the particles and their velocities. In our formulation, we further reduce the computational complexity by eliminating the need to compute repulsive forces.

A Kinematic Model for Collision Response

One aspect of traditional 3D animation using clay or plasticine is the ease with which the object can be deformed. Animators take for granted the ability to interactively press complex objects together. In 3D computer animation, this ability is severly restricted and any improvement would drastically increase the range and style of animations that can be created within a production environment. This paper presents a simple, fast, geometric approach to controlling the nature, extent and timing of the surface deformations arising from the interpenetration of kinematically controlled animated objects. Rather than using dynamic simulations, which are difficult to configure, code, and control, the algorithm presented here formulates collision response kinematically by moving points on a multiresolution surface towards goals points at a certain rate. This new multi-resolution approach to deformations provides control over the response of the surface using a small number of paramete...

Modeling and Simulation of Collision Response Between Deformable Objects

1 abd-lah@fsksm.utm.my, 2 saandilian@hotmail.com, 3 daut@fsksm.utm.my, 4 haida@fsksm.utm.my } Abstract Many simulation and modelling depict two or more objects interacting and potentially colliding. Collision response is a complex process if the objects are intended to respond like soft bodies or deformation bodies and to exhibit the properties of real objects. The main problem in collision response between deformable objects is interpenetration. The goal of this research is to develop an algorithm that provides a realistic, accurate, stable and fast collision response between deformable objects. So, an algorithm will be introduced to solve the problem in collision response between deformable objects. We have developed a technique we call Penalty Impulse Hybrid Method (PIHM). The PIHM method combines two known approaches, the Impulse Based Method and the Force Based Penalty Method which both are commonly applied for simulation and real-time animation of deformable objects.

A collision model for deformable bodies

Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190), 1998

APPLICATION OF A RESPONSE SCHEME FOR COLLISION HANDLING AMONG DEFORMABLE OBJECTS

Collision response schemes and deformable models have been recently an important subject of research, since many medical and entertainment applications require the simulation of real environments with deformable objects. Early research in this area comes from the field of Engineering, which propose very exact models but at a very high computational cost. New models propose plausible techniques which study the discrete nature of object representations in order to reduce the time required by these simulations. This paper presents the implementation of a very efficient collision response scheme which calculates the depth and direction of the penetration in the contact region, as well as the deformable model applied to the surface of the object. Furthermore, we present the application of the new collision detection scheme for the simulation of the interaction between a human abdominal organ and a surgery instrument.

An automatic collision response algorithm

1998

Many animations depict two or more objects interacting and potentially colliding. Collision response is a complex process if the objects are intended to respond like soft bodies and to exhibit the properties of real objects. Physically-based models calculate contact forces to incorporate into the calculation of velocities and positions of the control mesh. Some physically-based models, for example those that model cloth, strive for visually realistic results. Until recently the magnitude of the calculations required for physically-based modeling have precluded real-time interaction. A complaint with physically-based models is the correlation between the parameters, such as forces and torques, and the resulting 'look' of the response are sometimes di cult for the user to understand. The work presented in this thesis does not strive for the simulation of real object properties. Instead it tries to remove the interpenetration between two objects while providing a set of control...