Fast penetration depth estimation for elastic bodies using deformed distance fields
نویسندگان
چکیده
We present a fast penetration depth estimation algorithm between deformable polyhedral objects. We assume the continuum of non-rigid models are discretized using standard techniques, such as finite element or finite difference methods. As the objects deform, the distance fields are deformed accordingly to estimate penetration depth, allowing enforcement of non-penetration constraints between two colliding elastic bodies. This approach can automatically handle self-penetration and inter-penetration in a uniform manner. We demonstrate its effectiveness on moderately complex simulation scenes.
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