Silcowitz, Morten3; Niebe, Sarah Maria5; Erleben, Kenny5
1 Department of Computer Science, Faculty of Science, Københavns Universitet2 The Image Section, Department of Computer Science, Faculty of Science, Københavns Universitet3 Department of Computer Science, University of Copenhagen4 Administration, Department of Computer Science, Faculty of Science, Københavns Universitet5 Administration, Department of Computer Science, Faculty of Science, Københavns Universitet
n interactive physical simulation, contact forces are applied to prevent rigid bodies from penetrating each other. Accurate contact force determination is a computationally hard problem. Thus, in practice one trades accuracy for performance. The result is visual artifacts such as viscous or damped contact response. In this paper, we present a new approach to contact force determination. We reformulate the contact force problem as a nonlinear root search problem, using a Fischer function. We solve this problem using a generalized Newton method. Our new Fischer - Newton method shows improved qualities for specific configurations where the most widespread alternative, the Projected Gauss-Seidel method, fails. Experiments show superior convergence properties of the exact Fischer - Newton method.
Vriphys 09: 6th Workshop on Virtual Reality Interactions and Physical Simulations, 2009, p. 105-114
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6th Workshop on Virtual Reality Interaction and Physical Simulation VRIPHYS 09, 2009