Implicit Multibody Penalty-Based Distributed Contact

作者：Xu Hongyi^*; Zhao Yili; Barbic Jernej

来源：IEEE Transactions on Visualization and Computer Graphics, 2014, 20(9): 1266-1279.

DOI：10.1109/TVCG.2014.2312013

• Computer graphics
• physically based modeling
• animation
• kinematics and dynamics

The penalty method is a simple and popular approach to resolving contact in computer graphics and robotics. Penalty-based contact, however, suffers from stability problems due to the highly variable and unpredictable net stiffness, and this is particularly pronounced in simulations with time-varying distributed geometrically complex contact. We employ semi-implicit integration, exact analytical contact gradients, symbolic Gaussian elimination and a SVD solver to simulate stable penalty-based frictional contact with large, time-varying contact areas, involving many rigid objects and articulated rigid objects in complex conforming contact and self-contact. We also derive implicit proportional-derivative control forces for real-time control of articulated structures with loops. We present challenging contact scenarios such as screwing a hexbolt into a hole, bowls stacked in perfectly conforming configurations, and manipulating many objects using actively controlled articulated mechanisms in real time.

• 出版日期2014-9