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Title: A Unified Analysis of Penalty-Based Collision Energies
We analyze a wide class of penalty energies used for contact response through the lens of a reduced frame. Applying our analysis to both spring-based and barrier-based energies, we show that we can obtain closed-form, analytic eigensystems that can be used to guarantee positive semidefiniteness in implicit solvers. Our approach is both faster than direct numerical methods, and more robust than approximate methods such as Gauss-Newton. Over the course of our analysis, we investigate physical interpretations for two separate notions of length. Finally, we showcase the stability of our analysis on challenging strand, cloth, and volume scenarios with large timesteps on the order of 1/40 s.  more » « less
Award ID(s):
2132280
PAR ID:
10431370
Author(s) / Creator(s):
;
Editor(s):
Ye, Yuting; Wang Huamin
Date Published:
Journal Name:
Proceedings of the ACM on computer graphics and interactive techniques
ISSN:
2577-6193
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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