by Min Tang¹, Dinesh Manocha², Miguel A. Otaduy³ and Ruofeng Tong¹.

1 - Zhejiang University, China

2 - University of North Carolina at Chapel Hill, USA

3 - URJC Madrid, Spain

Figure 1: Sticking and penetration problems: We highlight sticking and penetration problems in the Chain Benchmark (a)(14.3k triangles, 60fps) and the Rings Benchmark (b)(7.4k triangles, 35fps) with traditional penalty methods. Our novel continuous penalty force formulation can alleviate these problems based on continuous collision and force computation.

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 provides 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, while significantly improves the stability and robustness. We highlight its benefits on several benchmarks.

Contents

Paper  (PDF 834 KB)

Min Tang, Dinesh Manocha, Miguel A. Otaduy, and Ruofeng Tong, Continuous Penalty Forces, ACM Transactions on Graphics, 31(4), Article 107 (July 2012), 9 pages (Proc. of ACM SIGGRAPH). 2012.

@ARTICLE {CPF,
  author = {Tang, Min and Manocha, Dinesh and Otaduy, Miguel A. and Tong, Ruofeng},
  title = {Continuous Penalty Forces},
  journal = {ACM Trans. Graph.},
  volume = {31},
  issue = {4},
  month = {July},
  year = {2012},
  pages = {107:1--107:9},
}

Video (25.2 MB)