Abstract
This paper proposes a new method for real-time rigid body simulations based on the penalty method. The penalty method is a useful and simple method for real-time simulation of multiple rigid bodies. However there are two problems. The first one is the choice of the spring constant to calculate the force. Our method estimates the optimal spring constant from the time step and from the mass of the simulated objects. The second problem is the contact analysis for the calculation of the penalty force. Our method estimates the volume and area of the intersecting region.
