Block Approach for Collision Response of Virtual Objects

Abstract

The paper considers the problem of collision response simulation of 3D objects in virtual environment systems. To solve this problem, we propose a block solver in which objects are resolved in pairs with simultaneous processing of clipping contact or impact. It leads to formulation of the LCP (Linear Complementarity Problem) with linear complements with respect to unknown values of impulses (impacts or contact forces). The solution of LCP is performed analytically by the search of all possible options, depending on the count of contact points that are received on the collision detection of virtual objects. Using the proposed approach, the collision response of objects system is based on the sequential impulses method developed earlier. Iterations of this method are performed for each pair of system objects until at least one of the convergence criteria is fulfilled, ensuring necessary accuracy and real time simulation. Approbation of the proposed methods and algorithms was carried out in the dynamic subsystem of training complex, developed in SRISA RAS and showed their applicability in virtual environment systems.