Nonsmooth Newton method for Fischer function reformulation of contact force problems for interactive rigid body simulation

TY - GEN

T1 - Nonsmooth Newton method for Fischer function reformulation of contact force problems for interactive rigid body simulation

AU - Silcowitz, Morten

AU - Niebe, Sarah Maria

AU - Erleben, Kenny

N1 - Conference code: 6

PY - 2009

Y1 - 2009

N2 - n interactive physical simulation, contact forces are applied to prevent rigid bodies from penetrating each other. Accurate contact force determination is a computationally hard problem. Thus, in practice one trades accuracy for performance. The result is visual artifacts such as viscous or damped contact response. In this paper, we present a new approach to contact force determination. We reformulate the contact force problem as a nonlinear root search problem, using a Fischer function. We solve this problem using a generalized Newton method. Our new Fischer - Newton method shows improved qualities for specific configurations where the most widespread alternative, the Projected Gauss-Seidel method, fails. Experiments show superior convergence properties of the exact Fischer - Newton method.

AB - n interactive physical simulation, contact forces are applied to prevent rigid bodies from penetrating each other. Accurate contact force determination is a computationally hard problem. Thus, in practice one trades accuracy for performance. The result is visual artifacts such as viscous or damped contact response. In this paper, we present a new approach to contact force determination. We reformulate the contact force problem as a nonlinear root search problem, using a Fischer function. We solve this problem using a generalized Newton method. Our new Fischer - Newton method shows improved qualities for specific configurations where the most widespread alternative, the Projected Gauss-Seidel method, fails. Experiments show superior convergence properties of the exact Fischer - Newton method.

U2 - 10.2312/PE/vriphys/vriphys09/105-114

DO - 10.2312/PE/vriphys/vriphys09/105-114

M3 - Article in proceedings

SN - 978-3-905673-73-9

SP - 105

EP - 114

BT - VRIPHYS 09

T2 - 6th Workshop on Virtual Reality Interaction and Physical Simulation VRIPHYS 09

Y2 - 5 November 2009 through 6 November 2009

ER -