6D Frictional Contact for Rigid Bodies - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2015

6D Frictional Contact for Rigid Bodies


We present a new approach to modeling contact between rigid objects that augments an individual Coulomb friction point-contact model with rolling and spinning friction constraints. Starting from the intersection volume, we compute a contact normal from the volume gradient. We compute a contact position from the first moment of the intersection volume, and approximate the extent of the contact patch from the second moment of the intersection volume. By incorporating knowledge of the contact patch into a point contact Coulomb friction formulation, we produce a 6D constraint that provides appropriate limits on torques to accommodate displacement of the center of pressure within the contact patch, while also providing a rotational torque due to dry friction to resist spinning. A collection of examples demonstrate the power and benefits of this simple formulation.
Fichier principal
Vignette du fichier
gi6dcontact.pdf (3.28 Mo) Télécharger le fichier
Vignette du fichier
grasping2.png (363.52 Ko) Télécharger le fichier
6dContact_v06.mp4 (3.84 Mo) Télécharger le fichier
Origin : Files produced by the author(s)
Format : Figure, Image
Origin : Files produced by the author(s)
Format : Video
Origin : Files produced by the author(s)

Dates and versions

hal-01138834 , version 1 (08-07-2015)


  • HAL Id : hal-01138834 , version 1


Charles Bouchard, Matthieu Nesme, Maxime Tournier, Bin Wang, François Faure, et al.. 6D Frictional Contact for Rigid Bodies. Graphics Interface, Jun 2015, Halifax, Canada. ⟨hal-01138834⟩
1096 View
900 Download


Gmail Facebook X LinkedIn More