Volume Contact Constraints at Arbitrary Resolution

Jérémie Allard; François Faure; Hadrien Courtecuisse; Florent Falipou; Christian Duriez; Paul Kry

doi:10.1145/1778765.1778819

Volume Contact Constraints at Arbitrary Resolution

Jérémie Allard ¹ François Faure ² Hadrien Courtecuisse ¹ Florent Falipou ² Christian Duriez ¹ Paul Kry

1 SHACRA - Simulation in Healthcare using Computer Research Advances

LIFL - Laboratoire d'Informatique Fondamentale de Lille, Inria Lille - Nord Europe, Inria Nancy - Grand Est

2 EVASION - Virtual environments for animation and image synthesis of natural objects

Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble

Abstract : We introduce a new method for simulating frictional contact between volumetric objects using interpenetration volume constraints. When applied to complex geometries, our formulation results in dramatically simpler systems of equations than those of traditional mesh contact models. Contact between highly detailed meshes can be simplified to a single unilateral constraint equation, or accurately processed at arbitrary geometry-independent resolution with simultaneous sticking and sliding across contact patches. We exploit fast GPU methods for computing layered depth images, which provides us with the intersection volumes and gradients necessary to formulate the contact equations as linear complementarity problems. Straightforward and popular numerical methods, such as projected Gauss-Seidel, can be used to solve the system. We demonstrate our method in a number of scenarios and present results involving both rigid and deformable objects at interactive rates.

Type de document :

Article dans une revue

ACM Transactions on Graphics, Association for Computing Machinery, 2010, Proceedings of SIGGRAPH 2010, 29 (3), pp.Article No. 82. 〈10.1145/1778765.1778819〉

Domaine :

Informatique [cs] / Synthèse d'image et réalité virtuelle [cs.GR]

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https://hal.inria.fr/inria-00502446
Contributeur : Jérémie Allard <>
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Volume Contact Constraints at Arbitrary Resolution

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