SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Large steps in cloth simulation
Proceedings of the 25th annual conference on Computer graphics and interactive techniques
Collision Detection and Response for Computer Animation
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Robust treatment of collisions, contact and friction for cloth animation
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Deformed distance fields for simulation of non-penetrating flexible bodies
Proceedings of the Eurographic workshop on Computer animation and simulation
Impulse-based dynamic simulation of rigid body systems
Impulse-based dynamic simulation of rigid body systems
Quasi-rigid objects in contact
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Invertible finite elements for robust simulation of large deformation
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Robust quasistatic finite elements and flesh simulation
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
Realistic Haptic Rendering of Interacting Deformable Objects in Virtual Environments
IEEE Transactions on Visualization and Computer Graphics
Fast continuous collision detection for articulated models
SM '04 Proceedings of the ninth ACM symposium on Solid modeling and applications
A Six Degree-of-Freedom God-Object Method for Haptic Display of Rigid Bodies with Surface Properties
IEEE Transactions on Visualization and Computer Graphics
Generalized penetration depth computation
Computer-Aided Design
A Fast and Stable Penalty Method for Rigid Body Simulation
IEEE Transactions on Visualization and Computer Graphics
Six-DoF Haptic Rendering of Contact Between Geometrically Complex Reduced Deformable Models
IEEE Transactions on Haptics
Asynchronous contact mechanics
ACM SIGGRAPH 2009 papers
IEEE Transactions on Visualization and Computer Graphics
Image-based collision detection and response between arbitrary volume objects
Proceedings of the 2008 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Volume contact constraints at arbitrary resolution
ACM SIGGRAPH 2010 papers
Asynchronous integration with phantom meshes
SCA '11 Proceedings of the 2011 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
High-fidelity passive force-reflecting virtual environments
IEEE Transactions on Robotics
A fluid/cloth coupling method for high velocity collision simulation
Proceedings of the 11th ACM SIGGRAPH International Conference on Virtual-Reality Continuum and its Applications in Industry
Computer-Aided Design
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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 computes 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, and can significantly improve the stability and robustness. We highlight its benefits on several benchmarks.