A Collision Detection and Response Scheme for Simplified Physically Based Animation

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A Collision Detection and Response Scheme
for Simplified Physically Based Animation

Yalmar Ponce Atencio¹, Claudio EsperanÃ§a¹, Paulo Roma Cavalcanti¹, Antonio Oliveira¹
¹PESC - Programa de Engenharia de Sistemas e ComputaÃ§Ã£o
COPPE / Universidade Federal do Rio de Janeiro
{yalmar, esperanc}@lcg.ufrj.br

Abstract:

In this paper we describe a system for physical animation of rigid and deformable objects. These are represented as groups of particles linked by linear constraints, while a Verlet integrator is used for motion computation. Unlike traditional approaches, we accomplish physical simulation without explicitly computing orientation matrices, torques or inertia tensors. The main contribution of our work is related to the way collisions are handled by the system, which employs different approaches for deformable and rigid bodies. In particular, we show how collision detection using the GJK algorithm [9] and bounding sphere hierarchies can be combined with the projection based collision response technique described by Jakobsen [14].

Yalmar Ponce Atencio 2005-10-14

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A Collision Detection and Response Scheme for Simplified Physically Based Animation

A Collision Detection and Response Scheme
for Simplified Physically Based Animation

Abstract:

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