HAPCO: Real Time Simulation of Interaction between Deformable Objects with Haptic Feedback for Solving Friction Multiple Contacts

This paper deals principally with the comparison of two efficient algorithms to solve multi-contact problems with friction between two deformable bodies. These two algorithms are based on the bi-potential formulation of the contact laws, offering the control of the solution at each contact point through an unique mathematical operator of projection as well as a better force feedback stability of the friction contact force. For reasons of modular programming, a method to decouple the contact solver from the displacement solver is presented. A Haptic Contact simulator called “HapCo” has been developed as a prototype to test contact algorithms between two deformable objects in the context of interactive simulation with a haptic device.

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