Algorithmes de simulation dynamique interactive d'objets rigides

Stéphane Redon 1
1 Action i3D
INRIA Rocquencourt
Abstract : The two main problems that have to be solved to conceive an interactive dynamics simulator are the detection of collisions between the virtual objects, and the computation of their constrained motion. Most collision detection methods are discrete: they only detect interpenetrations between the virtual objects at successive discrete instants. In order to efficiently detect collisions between rigid polyhedral objects continuously, that is to compute the instant of first contact between them and avoid the problems inherent to the discrete methods, we propose to use arbitrary in-between motions to replace the real object motion and obtain collision detection equations that can be solved efficiently. We present two approaches, based upon the exploitation of arbitrary in-between motions, that allow to detect collisions continuously between complex polyhedral objects in real time. We then propose to add some geometric information to the bounding volumes in order to exploit the relative backwards motion of objects and significantly speed up the collision detection when objects are close to each other. Most classic methods that compute the objects' constrained motions are formulated in the contact-space. Thanks to Gauss' least constraints principle, it is possible to get an equivalent formulation of the frictionless dynamics problems in the motion-space. We show that this motion-space formulation is more advantageous from a computational point of view. It leads us to propose a friction model in the motion-space. The proposed algorithms have been implemented and gathered in C++ libraries, CONTACT Toolkit. We present several applications of these libraries, especially in industrial cases provided by Renault and Airbus-EADS, as well as its use in dynamics simulation with force feedback.
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Submitted on : Wednesday, October 15, 2003 - 11:55:50 PM
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Stéphane Redon. Algorithmes de simulation dynamique interactive d'objets rigides. Modélisation et simulation. Université d'Evry-Val d'Essonne, 2002. Français. ⟨tel-00003580⟩

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