A mixed formulation for frictional contact problems prone to Newton like solution methods
Computer Methods in Applied Mechanics and Engineering
Fast contact force computation for nonpenetrating rigid bodies
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Force and touch feedback for virtual reality
Force and touch feedback for virtual reality
The haptic display of complex graphical environments
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
A constraint-based approach to rigid body dynamics for virtual reality applications
VRST '98 Proceedings of the ACM symposium on Virtual reality software and technology
Physically Based Models with Rigid and Deformable Components
IEEE Computer Graphics and Applications
Deformed distance fields for simulation of non-penetrating flexible bodies
Proceedings of the Eurographic workshop on Computer animation and simulation
Non-linear anisotropic elasticity for real-time surgery simulation
Graphical Models - Special issue on SMI 2002
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
High-Fidelity Haptic Synthesis of Contact with Deformable Bodies
IEEE Computer Graphics and Applications
A multi-threaded approach for deformable/rigid contacts with haptic feedback
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
Staggered projections for frictional contact in multibody systems
ACM SIGGRAPH Asia 2008 papers
Haptic Interaction with Virtual Avatars
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
Contact Model for Haptic Medical Simulations
ISBMS '08 Proceedings of the 4th international symposium on Biomedical Simulation
Haptic rendering of complex objects via directional sampling
VRCAI '08 Proceedings of The 7th ACM SIGGRAPH International Conference on Virtual-Reality Continuum and Its Applications in Industry
Interaction: interfaces, algorithms, and applications
ACM SIGGRAPH 2009 Courses
Interactive haptic rendering of high-resolution deformable objects
ICVR'07 Proceedings of the 2nd international conference on Virtual reality
Volume contact constraints at arbitrary resolution
ACM SIGGRAPH 2010 papers
A nonsmooth Newton solver for capturing exact Coulomb friction in fiber assemblies
ACM Transactions on Graphics (TOG)
Constraint-based simulation of adhesive contact
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
A hybrid iterative solver for robustly capturing coulomb friction in hair dynamics
Proceedings of the 2011 SIGGRAPH Asia Conference
Six degree-of freedom haptic rendering for dental implantology simulation
ISBMS'10 Proceedings of the 5th international conference on Biomedical Simulation
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Numerical methods for linear complementarity problems in physics-based animation
ACM SIGGRAPH 2013 Courses
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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A new computer haptics algorithm to be used in general interactive manipulations of deformable virtual objects is presented. In multimodal interactive simulations, haptic feedback computation often comes from contact forces. Subsequently, the fidelity of haptic rendering depends significantly on contact space modeling. Contact and friction laws between deformable models are often simplified in up to date methods. They do not allow a "realistic驴 rendering of the subtleties of contact space physical phenomena (such as slip and stick effects due to friction or mechanical coupling between contacts). In this paper, we use Signorini's contact law and Coulomb's friction law as a computer haptics basis. Real-time performance is made possible thanks to a linearization of the behavior in the contact space, formulated as the so-called Delassus operator, and iteratively solved by a Gauss-Seidel type algorithm. Dynamic deformation uses corotational global formulation to obtain the Delassus operator in which the mass and stiffness ratio are dissociated from the simulation time step. This last point is crucial to keep stable haptic feedback. This global approach has been packaged, implemented, and tested. Stable and realistic 6D haptic feedback is demonstrated through a clipping task experiment.