6D Frictional Contact for Rigid Bodies

Abstract : We present a new approach to modeling contact between rigid objects that augments an individual Coulomb friction point-contact model with rolling and spinning friction constraints. Starting from the intersection volume, we compute a contact normal from the volume gradient. We compute a contact position from the first moment of the intersection volume, and approximate the extent of the contact patch from the second moment of the intersection volume. By incorporating knowledge of the contact patch into a point contact Coulomb friction formulation, we produce a 6D constraint that provides appropriate limits on torques to accommodate displacement of the center of pressure within the contact patch, while also providing a rotational torque due to dry friction to resist spinning. A collection of examples demonstrate the power and benefits of this simple formulation.
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https://hal.inria.fr/hal-01138834
Contributor : Matthieu Nesme <>
Submitted on : Wednesday, July 8, 2015 - 4:57:07 PM
Last modification on : Wednesday, April 11, 2018 - 1:58:00 AM
Long-term archiving on : Friday, October 9, 2015 - 11:15:21 AM

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  • HAL Id : hal-01138834, version 1

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Charles Bouchard, Matthieu Nesme, Maxime Tournier, Bin Wang, François Faure, et al.. 6D Frictional Contact for Rigid Bodies. Graphics Interface, Jun 2015, Halifax, Canada. ⟨hal-01138834⟩

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