A collision model for deformable bodies

We describe models and algorithms designed to produce efficient and physically consistent dynamic simulations. These models and algorithms have been implemented in a unique framework modeling both deformations and contacts through visco-elastic relations. Since this model of interaction (known as "penalty based") is much debated, we present a detailed study of this model. Indeed, the "penalty" based model is supposed to have two major drawbacks: determining the visco-elastic parameters and choosing the computation time step. We present a solution for both problems based on physical concepts. Finally, we present results comparing real data, "impulse" based simulation and "penalty" based simulation.