research-article

Staggered projections for frictional contact in multibody systems

Authors:

Danny M. Kaufman,

Shinjiro Sueda,

Dinesh K. PaiAuthors Info & Claims

ACM Transactions on Graphics (TOG), Volume 27, Issue 5

Article No.: 164, Pages 1 - 11

https://doi.org/10.1145/1409060.1409117

Published: 01 December 2008 Publication History

Abstract

We present a new discrete velocity-level formulation of frictional contact dynamics that reduces to a pair of coupled projections and introduce a simple fixed-point property of this coupled system. This allows us to construct a novel algorithm for accurate frictional contact resolution based on a simple staggered sequence of projections. The algorithm accelerates performance using warm starts to leverage the potentially high temporal coherence between contact states and provides users with direct control over frictional accuracy. Applying this algorithm to rigid and deformable systems, we obtain robust and accurate simulations of frictional contact behavior not previously possible, at rates suitable for interactive haptic simulations, as well as large-scale animations. By construction, the proposed algorithm guarantees exact, velocity-level contact constraint enforcement and obtains long-term stable and robust integration. Examples are given to illustrate the performance, plausibility and accuracy of the obtained solutions.

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Index Terms

Staggered projections for frictional contact in multibody systems
1. Computing methodologies
  1. Computer graphics
  2. Modeling and simulation
    1. Simulation types and techniques
      1. Simulation by animation
2. Mathematics of computing
  1. Continuous mathematics
    1. Topology
      1. Geometric topology

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cover image ACM Transactions on Graphics

ACM Transactions on Graphics Volume 27, Issue 5

December 2008

552 pages

ISSN:0730-0301

EISSN:1557-7368

DOI:10.1145/1409060

Issue’s Table of Contents

Copyright © 2008 ACM.

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Published: 01 December 2008

Published in TOG Volume 27, Issue 5

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Crespel OHohnadel EMetivet TBertails-Descoubes F(2024)Contact detection between curved fibres: high order makes a differenceACM Transactions on Graphics10.1145/365819143:4(1-23)Online publication date: 19-Jul-2024
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