David Harmon
Columbia University
Etienne Vouga
Columbia University
Rasmus Tamstorf
Walt Disney Animation Studios
Eitan Grinspun
Columbia University


Robust treatment of complex collisions is a challenging problem in cloth simulation. Some state of the art methods resolve collisions iteratively, invoking a fail-safe when a bound on iteration count is exceeded. The best-known fail-safe rigidifies the contact region, causing simulation artifacts. We present a fail-safe that cancels impact but not sliding motion, considerably reducing artificial dissipation. We equip the proposed fail-safe with an approximation of Coulomb friction, allowing finer control of sliding dissipation.


SIGGRAPH (ACM Transactions on Graphics) 2008 [PDF]

         author = {David Harmon and Etienne Vouga and Rasmus Tamstorf and Eitan Grinspun},
         title = {Robust Treatment of Simultaneous Collisions},
         journal = {SIGGRAPH (ACM Transactions on Graphics)},
         volume = {27},
         number = {3},
         pages = {1--4},
         year = {2008}


An overview of our method