David Baraff
ABSTRACT
A new algorithm for computing contact forces between solid objects with friction is presented. The algorithm allows a mix of contact points with static and dynamic friction. In contrast to previous approaches, the problem of computing contact forces is not transformed into an optimization problem. Because of this, the need for sophisticated optimization software packages is eliminated. For both systems with and without friction, the algorithm has proven to be considerably faster, simple, and more reliable than previous approaches to the problem. In particular, implementation of the algorithm by nonspecialists in numerical programming is quite feasible.
Supplemental Material
Available for Download
- 1.D. Baraff. Analytical methods for dynamic simulation of non-penetrating rigid bodies. In Computer Graphics (Proc. SIGGRAPH), volume 23, pages 223-232. ACM, July 1989. Google Scholar
Digital Library
- 2.D. Baraff. Curved surfaces and coherence for non-penetrating rigid body simulation. In Computer Graphics (Proc. SIG-GRAPH), volume 24, pages 19-28. ACM, August 1990. Google ScholarDigital Library
- 3.D. Baraff. Issues in computing contact forces for non-penetrating rigid bodies. Algorithmica, 10:292-352, 1993.Google ScholarDigital Library
- 4.R.W. Cottle and G.B. Dantzig. Complementary pivot theory of mathematical programming. Linear Algebra and its Appli-cations, 1:103-125, 1968.Google ScholarCross Ref
- 5.R.W. Cottle, J.S. Pang, and R.E. Stone. The Linear Comple-mentarity Problem. Academic-Press, Inc., 1992.Google Scholar
- 6.P. Gill, S. Hammarling, W. Murray, M. Saunders, and M. Wright. User's guide for LSSOL: A Fortran package for constrained linear least-squares and convex quadratic pro-gramming. Technical Report Sol 86-1, Systems Optimiza-tion Laboratory, Department of Operations Research, Stanford University, 1986.Google Scholar
- 7.P. Gill, W. Murray, M. Saunders, and M. Wright. User's guide for QPSOL: A Fortran package for quadratic programming. Technical Report Sol 84-6, Systems Optimization Labora-tory, Department of Operations Research, Stanford University, 1984.Google Scholar
- 8.P. Gill, W. Murray, M. Saunders, and M. Wright. User's guide for NPSOL: A Fortran package for nonlinear programming. Technical Report Sol 86-2, Systems Optimization Labora-tory, Department of Operations Research, Stanford University, 1986.Google Scholar
- 9.P.E. Gill, W. Murray, M.A. Saunders, and H.W. Wright. Main-taining LU factors of a general sparse matrix. Linear Algebra and its Applications, 88/89:239-270, 1987.Google ScholarCross Ref
- 10.P. L~ otstedt. Numerical simulation of time-dependent contact friction problems in rigid body mechanics. SIAM Journal of Scientific Statistical Computing, 5(2):370-393, 1984.Google ScholarDigital Library
- 11.R.E. Marsten. The design of the XMP linear program-ming library. ACM Transactions on Mathematical Software, 7(4):481-497, 1981. Google ScholarDigital Library
- 12.B. Murtagh and M. Saunders. MINOS 5.1 User's guide. Technical Report Sol 83-20R, Systems Optimization Labora-tory, Department of Operations Research, Stanford University, 1987.Google Scholar
- 13.M. Saunders. Personal communication. September 1993.Google Scholar
Index Terms
- Fast contact force computation for nonpenetrating rigid bodies
Recommendations
Parameter and contact force estimation of planar rigid-bodies undergoing frictional contact
This paper addresses the identification of the inertial parameters and the contact forces associated with objects making and breaking frictional contact with the environment. Our goal is to explore under what conditions, and to what degree, the ...
6D frictional contact for rigid bodies
GI '15: Proceedings of the 41st Graphics Interface ConferenceWe present a new approach to modeling contact between rigid objects that augments an individual Coulomb friction point-contact model with rolling and spinning friction constraints. Starting from the intersection volume, we compute a contact normal from ...
Comments