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Implicit Contact Handling for Deformable Objects

  • Schall, Oliver
Publication Date
Jan 01, 2020
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Physics simulation is a complex and active field of research that includes many issues like the accurate detection and resolution of collisions. Those simulations of realistic physical behaviour are needed in many industries like engineering, movies and games. Usually a physical simulation is composed of many different algorithms that all solve a part of the simulation problem, like collision detection and collision resolution. The focus of this thesis is the resolution of collisions using an approach based on mathematical optimization. This is generally not a simple task since the resolution of one collision might result in new collisions somewhere else in the simulation. While the simulation of rigid bodies is overall a well understood issue and there exist solid algorithms to solve the task, the simulation of deformable objects and especially the resolution of occurring collisions is a lot more complicated and the implementation of a robust solution can be significantly more challenging than their rigid body counterpart. There have been different approaches to solve the issue of collision resolution for deformable objects. This thesis uses an already implemented collision detection algorithm and aims to implement and evaluate an accurate algorithm to resolve all collision between the deformable bodies in the simulation, as well all collisions of deformable bodies with static geometry. The approach used in this thesis is formulating a mathematical optimization problem that applies constraints on contact points to prevent collisions. The optimization problem is then solved by a quadratic program solver which calculates the needed velocity changes to resolve all collisions.

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