Coping with friction for non-penetrating rigid body simulation
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
Fast contact force computation for nonpenetrating rigid bodies
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Collision detection for interactive graphics applications
Collision detection for interactive graphics applications
Large steps in cloth simulation
Proceedings of the 25th annual conference on Computer graphics and interactive techniques
Rigid-Body Dynamics with Friction and Impact
SIAM Review
Dynamic real-time deformations using space & time adaptive sampling
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Computer Methods for Ordinary Differential Equations and Differential-Algebraic Equations
Computer Methods for Ordinary Differential Equations and Differential-Algebraic Equations
Robust treatment of collisions, contact and friction for cloth animation
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Efficient collision detection of complex deformable models using AABB trees
Journal of Graphics Tools
Nonconvex rigid bodies with stacking
ACM SIGGRAPH 2003 Papers
BD-tree: output-sensitive collision detection for reduced deformable models
ACM SIGGRAPH 2004 Papers
Image-Based Collision Detection for Deformable Cloth Models
IEEE Transactions on Visualization and Computer Graphics
Quasi-rigid objects in contact
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Haptic Display of Interaction between Textured Models
VIS '04 Proceedings of the conference on Visualization '04
Fast frictional dynamics for rigid bodies
ACM SIGGRAPH 2005 Papers
Computer Animation and Virtual Worlds - CASA 2005
Realistic Haptic Rendering of Interacting Deformable Objects in Virtual Environments
IEEE Transactions on Visualization and Computer Graphics
A fast multigrid algorithm for mesh deformation
ACM SIGGRAPH 2006 Papers
Fast proximity computation among deformable models using discrete Voronoi diagrams
ACM SIGGRAPH 2006 Papers
Velocity-based shock propagation for multibody dynamics animation
ACM Transactions on Graphics (TOG)
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
Adaptive deformations with fast tight bounds
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
A fast variational framework for accurate solid-fluid coupling
ACM SIGGRAPH 2007 papers
Robust treatment of simultaneous collisions
ACM SIGGRAPH 2008 papers
Staggered projections for frictional contact in multibody systems
ACM SIGGRAPH Asia 2008 papers
Asynchronous contact mechanics
ACM SIGGRAPH 2009 papers
Anisotropic friction for deformable surfaces and solids
Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Real-time deformation and fracture in a game environment
Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Image-based collision detection and response between arbitrary volume objects
Proceedings of the 2008 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
ACM Transactions on Graphics (TOG)
Eulerian solid simulation with contact
ACM SIGGRAPH 2011 papers
Sparse meshless models of complex deformable solids
ACM SIGGRAPH 2011 papers
VolCCD: Fast continuous collision culling between deforming volume meshes
ACM Transactions on Graphics (TOG)
Interference-aware geometric modeling
Proceedings of the 2011 SIGGRAPH Asia Conference
Controlling physics-based characters using soft contacts
Proceedings of the 2011 SIGGRAPH Asia Conference
Implicit FEM and fluid coupling on GPU for interactive multiphysics simulation
ACM SIGGRAPH 2011 Talks
PolyDepth: Real-time penetration depth computation using iterative contact-space projection
ACM Transactions on Graphics (TOG)
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Adaptive image-based intersection volume
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Numerical methods for linear complementarity problems in physics-based animation
ACM SIGGRAPH 2013 Courses
ACM Transactions on Graphics (TOG)
FORK-1S: interactive compliant mechanisms with parallel state computation
Proceedings of the 18th meeting of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games
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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.