Modeling non-convex configuration space using linear complementarity problems

In this paper, we proposed a new physical simulation method that can model non-convex configuration space. The new method employs a novel contact model that take into account geometry information of objects. It can also be shown that it reduces the work for collision detection routines.

Authors

• Binh Nguyen 0002
• Jeffrey C. Trinkle

Keywords

• Computational modeling
• Error correction
• Solid modeling
• Computer science
• Tunneling
• Robotics and automation
• USA Councils
• Information geometry
• Friction
• Games
• Complementarity Problem
• Linear Complementarity Problem
• Collision Detection
• Contact Model
• Physical Simulation
• Time Step
• Correction Method
• Rigid Body
• Geometric Features
• Solution Method
• Prevention Methods
• National Science Foundation
• Normal Force
• Geometric Information
• Numerical Errors
• Convex Shape
• Physics Engine
• Signed Distance Function
• Current Contact
• Face Contact
• Step Speed