Contact Handling for Deformable Point-Based Objects

This paper presents an approach to collision detec- tion and response for dynamically deforming point- based objects. Both the volume of an object and its surface are represented by point sets. In case of a collision, response forces are computed for pen- etrating surface points and distributed to volume points which are used for simulating the object dy- namics. The decoupling of collision handling and deformation allows for a very stable collision re- sponse while maintaining interactive update rates of the dynamic simulation for environments with moderate complexity. Simulation results are pre- sented for elastically and plastically deforming ob- jects with changing topology.