(An) impulse-based model for multiple point collisions in dynamic simulation

Abstract

This thesis presents an impulsive-based multi-point collision response model. Most previous approaches solve single point collisions, and a regional collision is approximated as a sequence of single point collisions. For more stable simulations, this thesis introduces the distribution of impulses over a collision region. The total impulse for the region is calculated from its impulse distribution. This model eliminates abnormal oscillations in which conventional models have experienced. Therefore, colliding objects are converging to their stable positions more quickly. Moreover, this model can incorporate friction on the collision region. Since previous impulse-based models are short in handling multi-point collisions, additional physical model are required for multi-point contacts. In contrast, this model take a unified approach that is capable of covering both collisions and contacts. Therefore, this model clearly resolves the difficulty in transition between collision and contact.