Dynamic simulation of non-penetrating flexible bodies
Abstract
A model for the dynamic simulation of flexible bodies subject to non-penetration constraints is presented. Flexible bodies are described in terms of global deformations of a rest shape. The dynamical behavior of these bodies that most closely matches the behavior of ideal continuum bodies is derived, and subsumes the results of earlier Lagrangian dynamics-based models. The dynamics derived for the flexible-body model allows the unification of previous work on flexible body simulation and previous work on non-penetrating rigid body simulation. The non-penetration constraints for a system of bodies that contact at multiple points are maintained by analytically calculated contact forces. An implementation for first- and second-order polynomially deformable bodies is described. The simulation of second-order or higher deformations currently involves a polyhedral boundary approximation for collision detection purposes.
BibTeX
@conference{Baraff-1992-15861,author = {David Baraff and Andrew Witkin},
title = {Dynamic simulation of non-penetrating flexible bodies},
booktitle = {Proceedings of ACM 19th Annual Conference on Computer Graphics and Interactive Techniques (SIGGRAPH '92)},
year = {1992},
month = {July},
volume = {26},
pages = {303 - 308},
}