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An Implicit Frictional Contact Solver for Adaptive Cloth Simulation
Jie Li, Gilles Daviet, Rahul Narain, Florence Bertails-Descoubes, Matthew Overby, George E. Brown, Laurence Boissieux
Implicit frictional contact solver integrated with adaptive remeshing for robust, stable cloth simulation under complex contact scenarios.
Abstract
Cloth dynamics plays an important role in the visual appearance of moving characters. Properly accounting for contact and friction is of utmost importance to avoid cloth-body and cloth-cloth penetration and to capture typical folding and stick-slip behavior due to dry friction. We present here the first method able to account for cloth contact with exact Coulomb friction, treating both cloth self-contacts and contacts occurring between the cloth and an underlying character. Our key contribution is to observe that for a nodal system like cloth, the frictional contact problem may be formulated based on velocities as primary variables, without having to compute the costly Delassus operator. Then, by reversing the roles classically played by the velocities and the contact impulses, conical complementarity solvers of the literature can be adapted to solve for compatible velocities at nodes. To handle the full complexity of cloth dynamics scenarios, we have extended this base algorithm in two ways: first, towards the accurate treatment of frictional contact at any location of the cloth, through an adaptive node refinement strategy; second, towards the handling of multiple constraints at each node, through the duplication of constrained nodes and the adding of pin constraints between duplicata.
How to read this
- Category
- Method: an implicit frictional contact solver for cloth simulation
- Contributions
- First method to treat cloth contact with exact Coulomb friction across both self-contacts and cloth-body contacts
- Reformulates the frictional contact problem in velocity variables, avoiding the costly Delassus operator
- Adapts conical complementarity solvers and extends them with adaptive node refinement to handle contact anywhere on the cloth
- Context
- Builds on robust simultaneous-collision treatment (Harmon et al., Robust Treatment of Simultaneous Collisions) and the broader line of constraint-based frictional contact for nodal/cloth systems.Builds on: Robust Treatment of Simultaneous Collisions
- Correctness
- Demonstrated on complex cloth dynamics scenarios with self-contact and an underlying character; the velocity-as-primary-variable reformulation is the central assumption, and readers should note the cost and convergence behavior of complementarity solvers under dense contact.
- Clarity
- Moderately technical; a first pass conveys the velocity-reformulation idea, but the complementarity formulation needs a careful second pass.
- How to read it
- Focus first on why working in velocities avoids the Delassus operator; do a second pass on the conical complementarity adaptation and the node-refinement strategy if you intend to implement.
Builds on
Related work
Keywords
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