filename     : p_Hei04c.pdf
entry        : inproceedings
conference   : VMV 2004, Stanford, USA, November 16-18
pages        : 339-346
year         : 2004
month        : November
title        : Consistent Penetration Depth Estimation for Deformable Collision Response
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author       : B. Heidelberger, M. Teschner, R. Keiser, M. Mueller, M. Gross
booktitle    : Proceedings of Vision, Modeling, Visualization 2004 
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language     : english
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abstract     :

Penalty approaches can be used to efficiently resolve collisions of
dynamically simulated rigid and deformable objects. These methods
compute penalty forces based on the penetration depth of intersecting
objects and there exist many algorithms for estimating the exact
penetration depth. However, in discrete-time simulations, this
information can cause non-plausible collision responses in case of
large penetrations or due to the object discretization.

In this paper, we present a method to compute consistent n-body
penetration depth information in order to reduce collision response
artifacts inherent to existing penetration depth approaches. The
method considers a set of close surface features to avoid
discontinuous penetration depths. Further, a propagation scheme is
applied in case of large penetrations to avoid non-plausible,
inconsistent penetration depth information.