Article

Quasi-rigid objects in contact

Authors:

Leonidas J. GuibasAuthors Info & Claims

SCA '04: Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation

Pages 109 - 119

https://doi.org/10.1145/1028523.1028539

Published: 27 August 2004 Publication History

Abstract

We investigate techniques for modeling contact between quasi-rigid objects - solids that undergo modest deformation in the vicinity of a contact, while the overall object still preserves its basic shape. The quasi-rigid model combines the benefits of rigid body models for dynamic simulation and the benefits of deformable models for resolving contacts and producing visible deformations. We argue that point cloud surface representations are advantageous for modeling rapidly varying, wide area contacts. Using multi-level computations based on point primitives, we obtain a scalable system that efficiently handles complex contact configurations, even for high-resolution models obtained from laser range scans. Our method computes consistent and realistic contact surfaces and traction distributions, which are useful in many applications.

Supplementary Material

JPG File (p109-pauly.jpg)

Download
7.31 KB

AVI File (p109-pauly.avi)

Supplemental video

Download
40.44 MB

References

[1]

{ABCO*01} Alexa M., Behr J., Cohen-Or D., Fleishman S., Levin D., Silva C. T.: Point set surfaces. In Proceedings of Visualization '01 (2001).

Digital Library

[2]

{Bar89} Baraff D.: Analytical methods for dynamic simulation of non-penetrating rigid bodies. In Proceedings of SIGGRAPH 1989 (1989), pp. 223--232.

Digital Library

[3]

{Bar91} Baraff D.: Coping with friction for non-penetrating rigid body simulation. Computer Graphics 25, 4 (1991), 31--40.

Digital Library

[4]

{Bar93} Baraff D.: Issues in computing contact forces for non-penetrating rigid bodies. Algorithmica 10 (1993), 292--352.

Digital Library

[5]

{Bar94} Baraff D.: Fast contact force computation for nonpenetrating rigid bodies. In Proceedings of SIGGRAPH 1994 (1994), pp. 23--34.

Digital Library

[6]

{BFA02} Bridson R., Fedkiw R. P., Anderson J.: Robust treatment of collisions, contact, and friction for cloth animation. ACM Transactions on Graphics 21, 3 (2002), 594--603.

Digital Library

[7]

{BW92} Baraff D., Witkin A.: Dynamic simulation of non-penetrating flexible bodies. In Proceedings of SIGGRAPH 1992 (1992), pp. 303--308.

Digital Library

[8]

{BW98} Baraff D., Witkin A.: Large steps in cloth simulation. In Proceedings of SIGGRAPH 1998 (1998), pp. 43--54.

Digital Library

[9]

{CGC*02} Capell S., Green S., Curless B., Duchamp T., Popović Z.: A multiresolution framework for dynamic deformations. In ACM SIGGRAPH Symposium on Computer Animation (2002), pp. 41--48.

Digital Library

[10]

{CPS92} Cottle R., Pang J., Stone R.: The Linear Complementarity Problem. Academic Press, Inc., 1992.

[11]

{DDCB01} Debunne G., Desbrun M., Cani M.-P., Barr A. H.: Dynamic real-time deformations using space & time adaptive sampling. In Proceedings of SIGGRAPH 2001 (2001), pp. 31--36.

Digital Library

[12]

{DSB99} Desbrun M., Schröder P., Barr A.: Interactive animation of structured deformable objects. In Graphics Interface '99 (1999), pp. 1--8.

Digital Library

[13]

{Gas93} Gascuel M.-P.: An implicit formulation for precise contact modeling between flexible solids. In Proceedings of SIGGRAPH 93 (Aug. 1993), Computer Graphics Proceedings, Annual Conference Series, pp. 313--320.

Digital Library

[14]

{GBF03} Guendelman E., Bridson R., Fedkiw R.: Nonconvex rigid bodies with stacking. ACM Transactions on Graphics 22, 3 (2003), 871--878.

Digital Library

[15]

{GKS02} Grinspun E., Krysl P., Schröder P.: CHARMS: A simple framework for adaptive simulation. ACM Transactions on Graphics 21, 3 (2002), 281--290.

Digital Library

[16]

{GM97} Gibson S. F., Mirtich B.: A Survey of Deformable Models in Computer Graphics. Tech. Rep. TR-97-19, MERL, Cambridge, MA, 1997.

[17]

{GPS94} Goyal S., Pinson E. N., Sinden F. W.: Simulation of dynamics of interacting rigid bodies including friction. Engineering with Computers 10 (1994), 162--195.

Digital Library

[18]

{GVP91} Gascuel M.-P., Verroust A., Puech C.: Animation and collisions between complex deformable bodies. In Graphics Interface '91 (June 1991), pp. 263--270.

[19]

{Hah88} Hahn J. K.: Realistic animation of rigid bodies. Computer Graphics 22, 4 (1988), 299--308.

Digital Library

[20]

{HFS*01} Hirota G., Fisher S., State A., Lee C., Fuchs H.: An implicit finite element method for elastic solids in contact. In Proceedings of Computer Animation 2001 (Seoul, 2001).

[21]

{HWBO95} Hodgins J. K., Wooten W. L., Brogan D. C., O'Brien J. F.: Animating human athletics. In Proceedings of SIGGRAPH 1995 (1995), pp. 71--78.

Digital Library

[22]

{Joh85} Johnson K. L.: Contact Mechanics. Cambridge University Press, Cambridge, 1985.

[23]

{JP99} James D. L., Pai D. K.: Artdefo: accurate real time deformable objects. In Proceedings of SIGGRAPH 1999 (1999), pp. 65--72.

Digital Library

[24]

{JP03} James D., Pai D. K.: Multiresolution green's function methods for interactive simulation of large-scale elastostatic objects. ACM Transactions on Graphics 22, 1 (2003), 47--82.

Digital Library

[25]

{KO88} Kikuchi N., Oden J.: Contact problems in elasticity: a study of variational inequalities and finite element methods. SIAM, Philadelphia, 1988.

[26]

{Lev03} Levin D.: Mesh-independent surface interpolation. Geometric Modeling for Scientific Visualization (2003).

[27]

{Lot82} Lotstedt P.: Mechanical systems of rigid bodies subject to unilateral constraints. SIAM Journal on Applied Mathematics (1982).

[28]

{MC95} Mirtich B., Canny J.: Impulse-based simulation of rigid bodies. In 1995 Symposium on Interactive 3D Graphics (1995), pp. 181--188.

Digital Library

[29]

{MS01} Milenkovic V. J., Schmidl H.: Optimization-based animation. In Proceedings of SIGGRAPH 2001 (2001), pp. 37--46.

Digital Library

[30]

{Mur88} Murty K. G.: Linear complementarity, linear and nonlinear programming. Heldermann Verlag, Berlin, 1988.

[31]

{MW88} Moore M., Wilhelms J.: Collision detection and response for computer animation. In Proceedings of SIGGRAPH 1988 (1988), pp. 289--298.

Digital Library

[32]

{OBH02} O'Brien J. F., Bargteil A. W., Hodgins J. K.: Graphical modeling and animation of ductile fracture. ACM Transactions on Graphics 21, 3 (2002), 291--294.

Digital Library

[33]

{Pai95} Painleve P.: Sur les lois du frottement de glissement. Comptes Rendus de l'Academie des Sciences 121 (1895).

[34]

{PGK02} Pauly M., Gross M., Kobbelt L. P.: Efficient simplification of point-sampled surfaces. In Proceedings of Visualization '02 (2002), pp. 163--170.

Digital Library

[35]

{PKKG03} Pauly M., Keiser R., Kobbelt L. P., Gross M.: Shape modeling with point-sampled geometry. ACM Transactions on Graphics) 22, 3 (2003), 641--650.

Digital Library

[36]

{SH96} Stoianovici D., Hurmuzlu Y.: A critical study of the applicability of rigid-body collision theory. ASME Journal of Applied Mechanics 63 (1996), 307--316.

[37]

{SK03} Song P., Kumar V.: Distributed compliant model for efficient dynamic simulation of systems with frictional contacts. In The 2003 ASME Design Engineering Technical Conferences (Chicago, Illinois, Sept. 2003).

[38]

{SP95} Singh K., Parent R.: Implicit function based deformations of polyhedral objects. In Implicit Surfaces'95 (Grenoble, France, Apr. 1995), pp. 113--128. Proceedings of the first international workshop on Implicit Surfaces.

[39]

{ST96} Stewart D. E., Trinkle J. C.: An implicit time-stepping scheme for rigid body dynamics with inelastic collisions and coulomb friction. Internat. J. Numer. Methods Engineering (1996).

[40]

{TPBF87} Terzopoulos D., Platt J., Barr A., Fleischer K.: Elastically deformable models. Proceedings of SIGGRAPH 1987 (1987), 205--214.

Digital Library

[41]

{TW88} Terzopoulos D., Witkin A.: Physically based models with rigid and deformable components. IEEE Computer Graphics & Applications 8, 6 (Nov. 1988), 41--51.

Digital Library

[42]

{WK94} Wang Y.-T., Kumar V.: imulation of mechanical systems with unilateral constraints. ASME Journal of Mechanical Design 116, 2 (1994), 571--580.

[43]

{ZPvG01} Zwicker M., Pfister H., Van Baar J., Gross M.: Surface splatting. In Proceedings of SIGGRAPH 2001 (2001), pp. 371--378.

Digital Library

[44]

{ZSS97} Zorin D., Schröder P., Sweldens W.: Interactive multiresolution mesh editing. In Proceedings of SIGGRAPH 1997 (1997), pp. 259--268.

Digital Library

Cited By

Kocbay ESteininger APavicsics AArslan EEdelmann J(2025)Efficient and simplified numerical contact model for the braking simulation of a magnetic track brakeMeccanica10.1007/s11012-024-01926-860:2(195-216)Online publication date: 3-Jan-2025
https://doi.org/10.1007/s11012-024-01926-8
Chen HZhao DBarbič J(2023)Capturing Animation-Ready Isotropic Materials Using Systematic PokingACM Transactions on Graphics10.1145/361840642:6(1-27)Online publication date: 5-Dec-2023
https://dl.acm.org/doi/10.1145/3618406
Xiao MLuo XDing Y(2023)Contact Force and Material Removal Simulation for a Virtual Robotic Polishing PlatformIntelligent Robotics and Applications10.1007/978-981-99-6486-4_44(521-532)Online publication date: 10-Oct-2023
https://doi.org/10.1007/978-981-99-6486-4_44
Show More Cited By

Index Terms

Quasi-rigid objects in contact
1. Computing methodologies
  1. Artificial intelligence
    1. Computer vision
      1. Image and video acquisition
        3D imaging
  2. Computer graphics
    1. Animation
    2. Shape modeling
2. Theory of computation
  1. Randomness, geometry and discrete structures
    1. Computational geometry

Recommendations

A Polyhedral Bound on the Indeterminate Contact Forces in Planar Quasi-Rigid Fixturing and Grasping Arrangements

This paper considers multiple-contact arrangements where several bodies grasp, fixture, or support an object via frictional point contacts. Within a strictly rigid-body modeling paradigm, when an external wrench (i.e., force and torque) acts on the ...
6D frictional contact for rigid bodies
GI '15: Proceedings of the 41st Graphics Interface Conference

We present a new approach to modeling contact between rigid objects that augments an individual Coulomb friction point-contact model with rolling and spinning friction constraints. Starting from the intersection volume, we compute a contact normal from ...
Parameter and contact force estimation of planar rigid-bodies undergoing frictional contact

This paper addresses the identification of the inertial parameters and the contact forces associated with objects making and breaking frictional contact with the environment. Our goal is to explore under what conditions, and to what degree, the ...

Comments

Information & Contributors

Information

Published In

cover image ACM Conferences

SCA '04: Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation

August 2004

388 pages

ISBN:3905673142

Conference Chairs:
Norman Badler
University of Pennsylvania
,
Mathieu Desbrun
University of Southern California
,
Ronan Boulic,
Dinesh Pai

Sponsors

SIGGRAPH: ACM Special Interest Group on Computer Graphics and Interactive Techniques
EUROGRAPHICS: The European Association for Computer Graphics

Publisher

Eurographics Association

Goslar, Germany

Publication History

Published: 27 August 2004

Permissions

Request permissions for this article.

Request Permissions

Check for updates

Qualifiers

Article

Conference

SCA04

Sponsor:

SIGGRAPH
EUROGRAPHICS

SCA04: Symposium on Computer Animation 2004

August 27 - 29, 2004

Grenoble, France

Acceptance Rates

Overall Acceptance Rate 183 of 487 submissions, 38%

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

69
Total Citations
View Citations
901
Total Downloads

Downloads (Last 12 months)20
Downloads (Last 6 weeks)6

Reflects downloads up to 05 Mar 2025

Other Metrics

View Author Metrics

Citations

Cited By

Kocbay ESteininger APavicsics AArslan EEdelmann J(2025)Efficient and simplified numerical contact model for the braking simulation of a magnetic track brakeMeccanica10.1007/s11012-024-01926-860:2(195-216)Online publication date: 3-Jan-2025
https://doi.org/10.1007/s11012-024-01926-8
Chen HZhao DBarbič J(2023)Capturing Animation-Ready Isotropic Materials Using Systematic PokingACM Transactions on Graphics10.1145/361840642:6(1-27)Online publication date: 5-Dec-2023
https://dl.acm.org/doi/10.1145/3618406
Xiao MLuo XDing Y(2023)Contact Force and Material Removal Simulation for a Virtual Robotic Polishing PlatformIntelligent Robotics and Applications10.1007/978-981-99-6486-4_44(521-532)Online publication date: 10-Oct-2023
https://doi.org/10.1007/978-981-99-6486-4_44
Lan LKaufman DLi MJiang CYang Y(2022)Affine body dynamicsACM Transactions on Graphics10.1145/3528223.353006441:4(1-14)Online publication date: 22-Jul-2022
https://dl.acm.org/doi/10.1145/3528223.3530064
Zhao DLi YChaudhuri SLanglois TBarbic J(2022)ERGOBOSS: onomic ptimization of dy-upporting urfacesIEEE Transactions on Visualization and Computer Graphics10.1109/TVCG.2021.311212728:12(4032-4047)Online publication date: 1-Dec-2022
https://doi.org/10.1109/TVCG.2021.3112127
Truong NYuksel CWatcharopas CLevine JKirby R(2022)Particle Merging-and-SplittingIEEE Transactions on Visualization and Computer Graphics10.1109/TVCG.2021.309377628:12(4546-4557)Online publication date: 1-Dec-2022
https://doi.org/10.1109/TVCG.2021.3093776
Coevoet EAndrews SRelles DKry PLevin DKry P(2020)Distant collision response in rigid body simulationsProceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation10.1111/cgf.14106(1-10)Online publication date: 6-Oct-2020
https://dl.acm.org/doi/10.1111/cgf.14106
Verschoor MJalba A(2019)Efficient and Accurate Collision Response for Elastically Deformable ModelsACM Transactions on Graphics10.1145/320988738:2(1-20)Online publication date: 14-Mar-2019
https://dl.acm.org/doi/10.1145/3209887
De Goes FJames D(2018)Dynamic kelvinletsACM Transactions on Graphics10.1145/3197517.320128037:4(1-10)Online publication date: 30-Jul-2018
https://dl.acm.org/doi/10.1145/3197517.3201280
De Goes FJames D(2017)Regularized kelvinletsACM Transactions on Graphics10.1145/3072959.307359536:4(1-11)Online publication date: 20-Jul-2017
https://dl.acm.org/doi/10.1145/3072959.3073595
Show More Cited By

View Options

Login options

Check if you have access through your login credentials or your institution to get full access on this article.

Full Access

Get this Publication

View options

PDF

View or Download as a PDF file.

eReader

View online with eReader.

Figures

Tables

Media

View Table of Conten