フルペナルティベースの接触力計算手法を用いた実時間剛体シミュレーション

抄録

This paper proposes a real-time rigid body simulator whose objects consist of the contact points. This simulator calculates the contact force using the penalty method. In this simulator, the calculation of contact force can be simplified by considering the point side and surface side separately. The simulator determines whether one contact point has penetrated the floor or the surface of an object, and calculates the contact force according to the amount of penetration. The contact force applied to the object can be easily obtained by repeating this calculation at all contact points.