The kinematics of contact and grasp
International Journal of Robotics Research
A multisided generalization of Bézier surfaces
ACM Transactions on Graphics (TOG)
Curved surfaces and coherence for non-penetrating rigid body simulation
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Impulse-based simulation of rigid bodies
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
Linear-time dynamics using Lagrange multipliers
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Forward dynamics, elimination methods, and formulation stiffness in robot simulation
International Journal of Robotics Research
A practical model for subsurface light transport
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Smooth patching of refined triangulations
ACM Transactions on Graphics (TOG)
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Robot Dynamics Algorithm
Second Order Kinematic Constraint Between Two Bodies Rolling, Twisting and Slipping Against Each Other While Maintaining Point Contact
Impulse-based dynamic simulation of rigid body systems
Impulse-based dynamic simulation of rigid body systems
Algorithmic issues in modeling motion
ACM Computing Surveys (CSUR)
Differentiable parameterization of Catmull-Clark subdivision surfaces
Proceedings of the 2004 Eurographics/ACM SIGGRAPH symposium on Geometry processing
Fast frictional dynamics for rigid bodies
ACM SIGGRAPH 2005 Papers
Efficient Collision Detection within Deforming Spherical Sliding Contact
IEEE Transactions on Visualization and Computer Graphics
Spline joints for multibody dynamics
ACM SIGGRAPH 2008 papers
Interactive contacts resolution using smooth surface representation
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
Linear-time dynamics for multibody systems with general joint models
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Toward high-quality modal contact sound
ACM SIGGRAPH 2011 papers
Large-scale dynamic simulation of highly constrained strands
ACM SIGGRAPH 2011 papers
An algorithm for rendering vertexes and edges of polyhedron with high order geometric continuity
ICCSA'06 Proceedings of the 6th international conference on Computational Science and Its Applications - Volume Part I
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Dynamics simulation of smooth surfaced rigid bodies in contact is a critical problem in physically based animation and interactive virtual environments. We describe a technique that uses reduced coordinates to evolve a single continuous contact between smooth piecewise parametric surfaces. The incorporation of friction into our algorithm is straightforward. The dynamics equations, although slightly more complex due to the reduced coordinate formulation, can be integrated easily using explicit integrators without the need for constraint stabilization. Reduced coordinates confine integration errors to the constraint manifold, thereby permitting a wide choice of step sizes with visually acceptable results. We demonstrate these results using Loop Subdivision surfaces with parametric evaluation.