A Fast and Stable Penalty Method for Rigid Body Simulation
A Fast and Stable Penalty Method for Rigid Body Simulation
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DOI：
10.1109/tvcg.2007.70416
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发表时间：
2008
影响因子：
5.2
通讯作者：
Evan Drumwright
中科院分区：
文献类型：
--
作者：
Evan Drumwright
两种方法已被广泛使用的模型静止接触的刚体模拟。第一种方法，惩罚方法，适用于虚拟弹簧接触的表面，以尽量减少相互渗透。这种方法，如通常实施的，导致振荡行为和相当大的渗透。第二种方法，制定作为一个线性互补问题的基础上，休息接触，确定休息接触力分析，以防止相互渗透。分析方法表现出预期的情况下多项式的接触点的数量的复杂性，并可能无法找到一个解决方案，在多项式时间时，摩擦建模。我们提出了一种快速的惩罚方法，最大限度地减少振荡行为，并导致在休息接触时的渗透很少，我们的方法相比，这两个措施方面的分析方法，同时表现出更快的性能渐近和经验。
Two methods have been used extensively to model resting contact for rigid-body simulation. The first approach, the penalty method, applies virtual springs to surfaces in contact to minimize interpenetration. This method, as typically implemented, results in oscillatory behavior and considerable penetration. The second approach, based on formulating resting contact as a linear complementarity problem, determines the resting contact forces analytically to prevent interpenetration. The analytical method exhibits an expected-case polynomial complexity in the number of contact points and may fail to find a solution in polynomial time when friction is modeled. We present a fast penalty method that minimizes oscillatory behavior and leads to little penetration during resting contact; our method compares favorably to the analytical method with regard to these two measures while exhibiting much faster performance both asymptotically and empirically.