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Curved surfaces and coherence for non-penetrating rigid body simulation

Author:

David BaraffAuthors Info & Claims

ACM SIGGRAPH Computer Graphics, Volume 24, Issue 4

Pages 19 - 28

https://doi.org/10.1145/97880.97881

Published: 01 September 1990 Publication History

Abstract

A formulation for the contact forces between curved surfaces in resting (non-colliding) contact is presented. In contrast to previous formulations, constraints on the allowable tangential movement between contacting surfaces are not required. Surfaces are restricted to be twice-differentiable surfaces without boundary. Only finitely many contact points between surfaces are allowed; however, the surfaces need not be convex. The formulation yields the contact forces between curved surfaces and polyhedra as well. Algorithms for performing collision detection during simulation on bodies composed of both polyhedra and strictly convex curved surfaces are also presented. The collision detection algorithms exploit the geometric coherence between successive time steps of the simulation to achieve efficient running times.

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Gottschalk SLin MManocha D(2023)OBBTree: A Hierarchical Structure for Rapid Interference DetectionSeminal Graphics Papers: Pushing the Boundaries, Volume 210.1145/3596711.3596791(757-766)Online publication date: 1-Aug-2023
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Polykretis IPatil AAanjaneya MMichmizos K(2023)An Interactive Framework for Visually Realistic 3D Motion Synthesis using Evolutionarily-trained Spiking Neural NetworksProceedings of the ACM on Computer Graphics and Interactive Techniques10.1145/35855096:1(1-19)Online publication date: 16-May-2023
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Fang YZhang SLiu W(2023)Research on neural reinforcement learning-based non-inverse kinematics robotic arm control systemThird International Conference on Advanced Algorithms and Neural Networks (AANN 2023)10.1117/12.3004707(29)Online publication date: 9-Oct-2023
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Index Terms

Curved surfaces and coherence for non-penetrating rigid body simulation
1. Computing methodologies
  1. Artificial intelligence
    1. Computer vision
      1. Image and video acquisition
        3D imaging
  2. Computer graphics
    1. Animation
    2. Shape modeling
      1. Parametric curve and surface models
      2. Volumetric models
2. Theory of computation
  1. Randomness, geometry and discrete structures
    1. Computational geometry

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Published In

cover image ACM SIGGRAPH Computer Graphics

ACM SIGGRAPH Computer Graphics Volume 24, Issue 4

Aug. 1990

377 pages

ISSN:0097-8930

DOI:10.1145/97880

Editor:
Richard J. Beach

Issue’s Table of Contents

SIGGRAPH '90: Proceedings of the 17th annual conference on Computer graphics and interactive techniques
September 1990
452 pages
ISBN:0897913442
DOI:10.1145/97879
Chairman:
Forest Baskett

Copyright © 1990 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 01 September 1990

Published in SIGGRAPH Volume 24, Issue 4

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Cited By

Gottschalk SLin MManocha D(2023)OBBTree: A Hierarchical Structure for Rapid Interference DetectionSeminal Graphics Papers: Pushing the Boundaries, Volume 210.1145/3596711.3596791(757-766)Online publication date: 1-Aug-2023
https://dl.acm.org/doi/10.1145/3596711.3596791
Polykretis IPatil AAanjaneya MMichmizos K(2023)An Interactive Framework for Visually Realistic 3D Motion Synthesis using Evolutionarily-trained Spiking Neural NetworksProceedings of the ACM on Computer Graphics and Interactive Techniques10.1145/35855096:1(1-19)Online publication date: 16-May-2023
https://dl.acm.org/doi/10.1145/3585509
Fang YZhang SLiu W(2023)Research on neural reinforcement learning-based non-inverse kinematics robotic arm control systemThird International Conference on Advanced Algorithms and Neural Networks (AANN 2023)10.1117/12.3004707(29)Online publication date: 9-Oct-2023
https://doi.org/10.1117/12.3004707
Probst TTeschner M(2023)Monolithic Friction and Contact Handling for Rigid Bodies and Fluids Using SPHComputer Graphics Forum10.1111/cgf.1472742:1(155-179)Online publication date: 20-Jan-2023
https://doi.org/10.1111/cgf.14727
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Wang BHu YGao JSun YYin B(2018)Partial Sum Minimization of Singular Values Representation on Grassmann ManifoldsACM Transactions on Knowledge Discovery from Data10.1145/309269012:1(1-22)Online publication date: 23-Jan-2018
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Li CDing JHong ZPan YLiu P(2018)A Surface Mass-Spring Model With New Flexion Springs and Collision Detection Algorithms Based on Volume Structure for Real-Time Soft-Tissue Deformation InteractionIEEE Access10.1109/ACCESS.2018.28836796(75572-75597)Online publication date: 2018
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Mozafary VPayvandy P(2017)Definition of Mass Spring Parameters for Knitted Fabric Simulation Using the Imperialist Competitive AlgorithmFibres and Textiles in Eastern Europe10.5604/12303666.122788425(65-74)Online publication date: 28-Feb-2017
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