in Contact
• Bio-medical applications:
• surgery simulation
• artifical joints, dental implants
• Mechanical design:
• wear and tear of industrial parts
• Physics-based animation:
• movies
• games
• Physical model
• point force applied to object only leads to small,
local deformation
• analytical system response model to define
displacements due to point force
• linear elasticity: Global system response by
superposition
• forces and displacements evaluated on surface
only
• Surface model
• point cloud representation for modeling
consistent, highly dynamic contact surface
• Boussinesq approximation
• infinite elastic half-space
1 p( x )
u( x, y)
2G x y
displacement at y
due to force at x
shear modulus
• Boussinesq approximation
• system response function
1 1
f (r )
2G r
r xy
• Linear elasticity
• superposition
1 p( x )
u( y)
2G S x y
dx
total displacement at y
• Condition:
f (r )rdr 0
0
u Rp vector of
vector of tractions
displacements [p1,...,pN]T
[u1,...,uN]T
1 j (x)
Rij
2G S qi x
dx
matrix coefficient
• Collision detection
• static bounding volume hierarchies (small
deformations)
• Contact resolution
• compute forces and displacements that resolve
contact
• Contact surface
• find contact surface that is consistent for both
models
corresponding nodes
s~i qi qi
A B
• final separation
si ui ui qi qi
A B A B
• non-negative separation: si ≥ 0
• non-negative force: pi ≥ 0
s Rp q
s0
p0
sT p 0
• Model acquisition
• laser-range scan
• Hierarchy construction
• recursive clustering
• efficient multi-level computation
• Simulation
• Validation
Measurement Simulation
X2 FootSensor (xSensor Corp.)
37 x 13 sensors, 1.94 sensors/cm2