A Collision Model for Rigid and Deformable Bodies

In this paper, we describe models and algorithms designed to produce efficient and physically consistent dynamic simulations. These models and algorithms have been implemented in a unique framework, modeling both deformations and contacts through visco-elastic relations. Since this model of interaction (known as "penalty based") is much debated, we present it in detail. Indeed, the "penalty" based model is said to have two major drawbacks : the difficulty in - determining visco-elastic parameters and in - choosing the computation time step. We present a solution for both problems based on physical concepts. Finally, we will show results comparing real data, "impulse" based simulation and "penalty" based simulation. Keywords --- Dynamic simulation, collision model, deformable bodies, penalty model. Contribution of the paper --- The contributions of this paper are an indepth study of the different problems raised by the penalty model of collision, an automatic way to identify the param..