Efficient Contact Modeling using Compliance Warping

Guillaume Saupin (1) , Christian Duriez (2, 3) , Stephane Cotin (2, 3) , Laurent Grisoni (4)

1 LIST (CEA) - Laboratoire d'Intégration des Systèmes et des Technologies
2 LIFL - Laboratoire d'Informatique Fondamentale de Lille
3 SHACRA - Simulation in Healthcare using Computer Research Advances
4 ALCOVE - Collaborative interactive virtual environment

Contact handling is the key of deformable objects simulation, since without it, objects can not interact with their environment nor with the user. In this paper, we propose a novel and very efficient approach for precise computation of contact response between various types of objects commonly used in computer animation. Being constraint based, this method ensures physical correctness, and respects Singorini s law. It can be used with any deformation model, and is based on the use of the initial compliance matrix and contact warping. Thus, the contact response can be computed efficiently, and the object deformation can still be done in a physically plausible way provided the underlying model is physical.

Domaines: Synthèse d'image et réalité virtuelle [cs.GR]; Bibliothèque électronique [cs.DL]

Guillaume Saupin, Christian Duriez, Stephane Cotin, Laurent Grisoni. Efficient Contact Modeling using Compliance Warping. computer graphics international, 2008, Istambul, Turkey. ⟨hal-00844039⟩