Abstract
This paper presents an improved model of frictional contact for real-time simulation of deformable objects. Mechanical systems involving frictional contacts are usually described with differential equations involving discontinuities. Conventional penalty-based implementation schemes for dealing with such discontinuities results in unnatural behaviors such as drifting in the static friction state and sticking at the time of detachment. This paper proposes an improved frictional contact model that does not produce such unnatural behaviors. The validity of the model is shown through experimental results.
