Staff – University of Copenhagen

Nonsmooth Newton method for Fischer function reformulation of contact force problems for interactive rigid body simulation

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Morten Silcowitz, Sarah Maria Niebe, Kenny Erleben

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.
Original languageEnglish
Title of host publicationVRIPHYS 09 : 6th Workshop on Virtual Reality Interactions and Physical Simulations
Publication date2009
ISBN (Print)978-3-905673-73-9
StatePublished - 2009
Event6th Workshop on Virtual Reality Interaction and Physical Simulation VRIPHYS 09 - Karlsruhe, Germany
Duration: 5 Nov 20096 Nov 2009
Conference number: 6


Conference6th Workshop on Virtual Reality Interaction and Physical Simulation VRIPHYS 09

ID: 15763318