Authors:
Nadjet Talbi
1
;
Pierre Joli
1
;
Zhi-Qiang Feng
2
and
Abderrahmane Kheddar
3
Affiliations:
1
Laboratory IBISC, Evry Val d’Essonne university, France
;
2
Laboratory LME, Evry Val d’Essonne University, France
;
3
Laboratory JRL, AIST Tsukuba Central 2, Japan
Keyword(s):
Friction Contact, Interactive Simulation, Haptic rendering, Uzawa technic, Bi-potential Method.
Related
Ontology
Subjects/Areas/Topics:
Animation and Simulation
;
Collision Detection
;
Computer Vision, Visualization and Computer Graphics
;
Fundamental Methods and Algorithms
;
Geometry and Modeling
;
Graphical Interfaces
;
Interactive Environments
;
Modeling and Algorithms
;
Physics-Based Modeling
;
Real-Time Graphics
;
Real-Time Rendering
;
Real-Time Visual Simulation
;
Rendering
;
Scene and Object Modeling
Abstract:
This paper deals principally with the comparison of two efficient algorithms to solve multi-contact problems with friction between two deformable bodies. These two algorithms are based on the bi-potential formulation of the contact laws, offering the control of the solution at each contact point through an unique mathematical operator of projection as well as a better force feedback stability of the friction contact force. For reasons of modular programming, a method to decouple the contact solver from the displacement solver is presented. A Haptic Contact simulator called “HapCo” has been developed as a prototype to test contact algorithms between two deformable objects in the context of interactive simulation with a haptic device.