Contact mechanics using Green's functions for interactive simulated environments

This thesis is concerned with the determination of contact models for linear elastic solids which are both accurate and computable in a real time environment. We review previous models based on restitution coefficients and penalty functions, along with their efficiency and accuracy. A new model is proposed which is both rapidly computable and based on easily measurable material properties. In addition, we consider the role that friction plays in contact modeling and examine the various friction based effects that each model can produce. We conclude by outlining a simulation system in which this model can be used.Science, Faculty ofMathematics, Department ofGraduat