SOFA Shaman Evasion McGill
Volume Contact Constraints at Arbitrary Resolution
Jérémie Allard François Faure Hadrien Courtecuisse
Florent Falipou Christian Duriez Paul G. Kry
To appear in ACM Transactions on Graphics (Proceedings of SIGGRAPH 2010) 29(3)


We introduce a new method for simulating frictional contact between volumetric objects using interpenetration volume constraints. When applied to complex geometries, our formulation results in dramatically simpler systems of equations than those of traditional mesh contact models. Contact between highly detailed meshes can be simplified to a single unilateral constraint equation, or accurately processed at arbitrary geometry-independent resolution with simultaneous sticking and sliding across contact patches.
We exploit fast GPU methods for computing layered depth images, which provides us with the intersection volumes and gradients necessary to formulate the contact equations as linear complementarity problems. Straightforward and popular numerical methods, such as projected Gauss-Seidel, can be used to solve the system.
We demonstrate our method in a number of scenarios and present results involving both rigid and deformable objects at interactive rates.


J. Allard, F. Faure, H. Courtecuisse, F. Falipou, C. Duriez, P. G. Kry, Volume Contact Constraints at Arbitrary Resolution. ACM Transactions on Graphics (Proceedings of SIGGRAPH 2010) 29, 3, Aug. 2010, 10 pages.




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Previous Publications

F. Faure, S. Barbier, J. Allard, F. Falipou, Image-based Collision Detection and Response between Arbitrary Volumetric Objects. In SCA '08: Proceedings of the 2008 ACM SIGGRAPH/Eurographics Symposium on Computer Animation, Jul. 2008, 155–162. url More...