Curved surfaces and coherence for non penetrating rigid body simulation英文电子书.pdf

~ ComputerGraphics,Volume24, Number4, August 1990 Curved Surfaces and Coherence for Non-penetrating Rigid Body Simulation David Baraff Program of Computer Graphics Cornell University Ithaca, NY 14853 Abstract general case of non-penetration between curved surfaces without A formulation for the contact forces between curved sur- any constraint on the tangential movement poses a much more faces in resting (non-colliding) contact is presented. In contrast to difficult problem; the extension from polyhedra to curved surfaces previous formulations, constraints on the allowable tangential is not straightforward. We present a formulation of the contact movement between contacting surfaces are not required. Surfaces forces between curved surfaces that are completely unconstrained are restricted to be twice-differentiable surfaces without boun- in their tangential movement. We have not encountered a formu- dary. Only finitely many contact points between surfaces are lation for this problem in any previous literature. We restrict our- selves to the case of twice-differentiable curved surfaces without allowed;