| Abstract: | In this paper, we describe models and algorithms designed to produce efficient and physically consistent dynamic simulations. These models and algorithms have been implemented in a unique framework, modeling both deformations and contacts through visco-elastic relations. Since this model of interaction (known as 'penalty based') is much debated, we present a detailed study of this model. Indeed, the 'penalty' based model is supposed to have two major drawbacks: determining the visco-elastic parameters and choosing the computation time step. We present a solution for both problems based on physical concepts. Finally, we will present results comparing real data, 'impulse' based simulation and 'penalty'-based simulation. |
