LEM-an approach for real time physically based soft tissue simulation

This paper presents LEM (long elements method), a new method for physically based simulation of deformable objects, suitable for real time animation and virtual environment interaction. The approach implements a static solution for elastic global deformations of objects filled with fluid based on the Pascal´s principle and volume conservation. The volumes are discretised in long elements, defining meshes one order of magnitude smaller than tetrahedral or cubic meshes. The physics of the objects are modeled using bulk variables: pressure, density, volume and stress. No pre-calculations or condensations are needed. The approach is particularly interesting for soft tissue real time simulation and for graphic and haptic rendering.