Penalty methods - PowerPoint PPT Presentation

Penalty Methods for Contact Resolution

Penalty Methods for Contact Resolution. interactive contact resolution that usually works pi david s wu. objective. Determine the force vector to ensure appropriate behavior for contacting objects or alternatively:

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Where should we put spring damper models? Put on the most penetrating point?

n (collision normal). h 0 +h b. h 0 +h b. b. o. h 0 +h a. p 0. a. h 0. h 0 +h a. h 0. Can’t calculate moment of friction force. Friction force. Contact area(previous). Friction force. Contact area(previous). Contact area （ current ）.

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