Nonsmooth Newton method for Fischer function reformulation of contact force problems for interactive rigid body simulation
Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review
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Nonsmooth Newton method for Fischer function reformulation of contact force problems for interactive rigid body simulation. / Silcowitz, Morten; Niebe, Sarah Maria; Erleben, Kenny.
VRIPHYS 09: 6th Workshop on Virtual Reality Interactions and Physical Simulations. 2009. p. 105-114.Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review
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TY - GEN
T1 - Nonsmooth Newton method for Fischer function reformulation of contact force problems for interactive rigid body simulation
AU - Silcowitz, Morten
AU - Niebe, Sarah Maria
AU - Erleben, Kenny
N1 - Conference code: 6
PY - 2009
Y1 - 2009
N2 - n interactive physical simulation, contact forces are applied to prevent rigid bodies from penetrating each other. Accurate contact force determination is a computationally hard problem. Thus, in practice one trades accuracy for performance. The result is visual artifacts such as viscous or damped contact response. In this paper, we present a new approach to contact force determination. We reformulate the contact force problem as a nonlinear root search problem, using a Fischer function. We solve this problem using a generalized Newton method. Our new Fischer - Newton method shows improved qualities for specific configurations where the most widespread alternative, the Projected Gauss-Seidel method, fails. Experiments show superior convergence properties of the exact Fischer - Newton method.
AB - n interactive physical simulation, contact forces are applied to prevent rigid bodies from penetrating each other. Accurate contact force determination is a computationally hard problem. Thus, in practice one trades accuracy for performance. The result is visual artifacts such as viscous or damped contact response. In this paper, we present a new approach to contact force determination. We reformulate the contact force problem as a nonlinear root search problem, using a Fischer function. We solve this problem using a generalized Newton method. Our new Fischer - Newton method shows improved qualities for specific configurations where the most widespread alternative, the Projected Gauss-Seidel method, fails. Experiments show superior convergence properties of the exact Fischer - Newton method.
U2 - 10.2312/PE/vriphys/vriphys09/105-114
DO - 10.2312/PE/vriphys/vriphys09/105-114
M3 - Article in proceedings
SN - 978-3-905673-73-9
SP - 105
EP - 114
BT - VRIPHYS 09
Y2 - 5 November 2009 through 6 November 2009
ER -
ID: 15763318