Simulation of Non - penetrating Elastic Bodies Using Distance

We present an eecient algorithm for simulation of non-penetrating exible bodies with nonlinear elasticity. We use nite element methods to discretize the continuum model of non-rigid objects and the fast marching level set method to precompute a distance eld for each un-deformed body. As the objects deform, the distance elds 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 combine quasi-viscous Newton's iteration and adaptive-stepsize incremental loading with a predictor-corrector scheme. Our numerical method is able to achieve both numerical stability and eeciency for our simulation. We demonstrate its eeectiveness on a moderately complex animated scene.