A Collision Model for Deformable BodiesA

| In this paper, we describe models and algorithms designed to produce eecient 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 a detailed study of this model. Indeed, the \penalty" based model is supposed to have two major drawbacks :-determining the visco-elastic parameters and-choosing the computation time step. We present a solution for both problems based on physical concepts. Finally, we will present results comparing real data, \impulse" based simulation and \penalty" based simulation. Abstract In this paper, we describe models and algorithms designed to produce eecient 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 a detailed study of this model. Indeed, the \penalty" based model is supposed to have two major drawbacks :-determining the visco-elastic parameters and-choosing the computation time step. We present a solution for both problems based on physical concepts. Finally, we will present results comparing real data, \impulse" based simulation and \penalty" based simulation.