Robust Treatment of Simultaneous Collisions

How to read this

Category

Method: a collision-response fail-safe for cloth

Contributions

• A fail-safe collision response that cancels impact but preserves sliding motion, reducing artificial dissipation versus rigidifying the contact region
• An approximation of Coulomb friction integrated into the fail-safe for finer control of sliding dissipation

Context

Builds on Bridson et al.'s robust treatment of collisions, contact and friction for cloth, targeting the artifacts of the standard rigidification fail-safe used when iterative resolution exceeds its iteration bound.Builds on: Robust Treatment of Collisions, Contact and Friction for a Skinned Cloth Simulation

Correctness

Demonstrated on cloth self-collision at scale where iterative methods hit their iteration cap; the friction model is an approximation, so a reader should treat it as a robustness-oriented heuristic rather than an exact contact-mechanics solution.

Clarity

Fairly accessible if you know iterative cloth collision handling; a first pass conveys the impact-versus-sliding distinction, a second pass for the response formulation.

How to read it

Read with Bridson 2002 in mind; focus on why rigidification dissipates motion and how cancelling impact while keeping sliding fixes it, then a second pass for the friction approximation if you implement collision response.