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Incremental Potential Contact: Intersection- and Inversion-free Large-Deformation Dynamics
Minchen Li, Zachary Ferguson, Teseo Schneider, Timothy Langlois, Denis Zorin, Daniele Panozzo, Chenfanfu Jiang, Danny M. Kaufman
Guaranteed intersection- and inversion-free frictional contact for deformables via barrier-augmented incremental potential, independent of time step or material stiffness.
Abstract
Contacts weave through every aspect of our physical world, from daily household chores to acts of nature. Modeling and predictive computation of these phenomena for solid mechanics is important to every discipline concerned with the motion of mechanical systems, including engineering and animation. Nevertheless, efficiently time-stepping accurate and consistent simulations of real-world contacting elastica remains an outstanding computational challenge. To model the complex interaction of deforming solids in contact we propose Incremental Potential Contact (IPC) - a new model and algorithm for variationally solving implicitly time-stepped nonlinear elastodynamics. IPC maintains an intersection- and inversion-free trajectory regardless of material parameters, time step sizes, impact velocities, severity of deformation, or boundary conditions enforced. Constructed with a custom nonlinear solver, IPC enables efficient resolution of time-stepping problems with separate, user-exposed accuracy tolerances that allow independent specification of the physical accuracy of the dynamics and the geometric accuracy of surface-to-surface conformation. This enables users to decouple, as needed per application, desired accuracies for a simulation's dynamics and geometry.
How to read this
- Category
- Method: contact model for elastodynamics
- Contributions
- Incremental Potential Contact (IPC), a model and algorithm for implicitly time-stepped nonlinear frictional elastodynamics
- Guarantees intersection- and inversion-free trajectories regardless of material, time step, impact velocity, deformation, or boundary conditions
- A custom nonlinear solver that decouples physical-accuracy and geometric-conformation tolerances via user-exposed parameters
- Context
- Advances implicit frictional contact for deformables, building on adaptive-cloth contact solvers such as Li et al.'s implicit frictional contact for cloth, via a barrier-augmented incremental potential.Builds on: An Implicit Frictional Contact Solver for Adaptive Cloth Simulation
- Correctness
- The non-penetration and non-inversion guarantees follow from a smooth barrier formulation enforced by a line-searched nonlinear solver; the practical caveat is computational cost, since the robustness comes from continuous collision detection and tight tolerances that can be expensive on large or stiff scenes.
- Clarity
- Dense; a first pass conveys the guarantees and intent, but the formulation demands a careful second and likely third pass.
- How to read it
- First pass for the guarantees and where they come from (barrier potential, decoupled tolerances); plan a second and third pass on the energy formulation, the friction model, and the nonlinear-solver/CCD machinery before implementing.
Related work
- Adaptive Nonlinearity for Collisions in Complex Rod Assemblies 2014 / SIGGRAPH
- Codimensional Incremental Potential Contact 2021 / SIGGRAPH
- Dynamic Deformables: Implementation and Production Practicalities 2020 / SIGGRAPH Courses
- Implicit Multibody Penalty-based Distributed Contact 2014 / TVCG
Keywords
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