Title :
Global methods for simulating contacting flexible bodies
Author :
Baraff, David ; Witkin, Andrew
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
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;
Conference_Titel :
Computer Animation '94., Proceedings of
Conference_Location :
Geneva
Print_ISBN :
0-8186-6240-9
DOI :
10.1109/CA.1994.324012
