“An implicit formulation for precise contact modeling between flexible solids” by Gascuel

  • ©Marie-Paule Gascuel




    An implicit formulation for precise contact modeling between flexible solids



    This paper presents an implicit deformable model, based on isosurfaces of potential fields generated by skeletons, that provides
    elegant and unified formulations for both geometric parameters
    such as shape or deformation and physical properties such as rigidity. The model is especially designed to improve collision and
    contact processing for non-rigid objects. In particular, it generates
    and maintains exact contact surfaces during interactions.


    1. David Baraff. Dynamic simulation of non-penetrating rigid bodies. PHD Thesis, Cornell University, May 1992.
    2. David Baraffand Andrew Witkin. Dynamic simulation of nonpenetrating flexible bodies. Computer Graphics, 26(2):303- -308, July 1992. Proceedings of SIGGRAPH’92 (Chicago, Illinois, July 1992).
    3. Jules Bloomenthal and Ken Shoemake. Convolution surfaces. Computer Graphics, 25(4):251–256, July 1991. Proceedings of SIGGRAPH’91 (Las Vegas, Nevada, July 1991).
    4. Jules Bloomenthal and Brian Wyvill. Interactive techniques for implicit modeling. Computer Graphics, 24(2): 109– 116, March 1990.
    5. Marie-Paule Gascuel, Anne Verroust, and Claude Puech. A modeling system for complex deformable bodies suited to animation and collision processing. Journal of Visualization and Computer Animation, 2(3), August 1991. A shorter version of this paper appeared in Graphics Interface’ 91.
    6. Jean-Paul Gourret, Nadia Magnenat Thalmann, and Daniel Thalmann. Simulation of object and human skin deformations in a grasping task. Computer Graphics, 23(3):21–29, July 1989. Proceedings of SIGGRAPH’89 (Boston, MA, July 1989).
    7. Annie Luciani, Stephane Jimenez, Olivier Raoult, Claude Cadoz, and Jean-Loup Florens. An unified view of multitude behaviour, flexibility, plasticity, and fractures: balls, bubbles and agglomerates. In IFIP WG 5.10 Working Conference, Tokyo, Japan, April 1991.
    8. Dimitri Metaxas and Demetri Terzopoulos. Constrained deformable superquadrics and nonrigid motion tracking. In CVPR, pages 337–343. IEEE Computer Society Conference, June 1991. Lahaina, Maui, Hawaii.
    9. Gavin Miller. The motion dynamics of snakes and worms. Computer Graphics, 22(4): 169– 177, August 1988. Proceedings of SIGGRAPH’88 (Atlanta, August 1988).
    10. Matthew Moore and Jane Wilhelms. Collision detection and response for computer animation. Computer Graphics, 22(4):289–298, August 1988. Proceedings of SIGGRAPH’88 (Atlanta, August 1988).
    11. Alex Pentland and John Williams. Good vibrations: Modal dynamics for graphics and animation. Computer Graphics, 23(3):215–222, July 1989. Proceedings of SIGGRAPH’89 (Boston, MA, July 1989).
    12. Demetri Terzopoulos, John Platt, Alan Barr, and Kurt Fleischer. Elastically deformable models. Computer Graphics, 21(4):205–214, July 1987. Proceedings of SIGGRAPH’87 (Anaheim, California, July 1987).
    13. Demetri Terzopoulos and Andrew Witkin. Physically based model with rigid and deformable components. IEEE Computer Graphics and Applications, pages 41–51, December 1988.
    14. Andrew Witkin and William Welch. Fast animation and control for non-rigid structures. Computer Graphics, 24(4):243- -252, August 1990. Proceedings of SIGGRAPH’90 (Dallas, Texas, August 1990).

ACM Digital Library Publication:

Overview Page: