Global methods for simulating contacting flexible bodies

Author

Baraff, David ; Witkin, Andrew

Author_Institution

Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA

fYear

1994

fDate

25-28 May 1994

Firstpage

1

Lastpage

12

Abstract

A model for the dynamic simulation of flexible bodies subject to nonpenetration 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 nonpenetrating rigid body simulation. The nonpenetration constraints for a system of bodies that contact at multiple points are maintained by analytically calculated contact forces. Frictional effects are also included. 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

Keywords

computational geometry; computer animation; digital simulation; dynamics; Lagrangian dynamics; collision detection; contacting flexible bodies; dynamic simulation; flexible-body model; frictional effects; global deformations; ideal continuum bodies; nonpenetration constraints; polyhedral boundary approximation; rest shape; Analytical models; Approximation error; Capacitive sensors; Deformable models; Finite difference methods; Finite element methods; Polynomials; Robots; Shape; Solid modeling;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Animation '94., Proceedings of

Conference_Location

Geneva

Print_ISBN

0-8186-6240-9

Type

conf

DOI

10.1109/CA.1994.324012

Filename

324012