Proceedings: GI 2015

6D frictional contact for rigid bodies

C. Bouchard, M. Nesme, M. Tournier, B. Wang, F. Faure, P. Kry

Proceedings of Graphics Interface 2015: Halifax, Nova Scotia, Canada, 3 - 5 June 2015, 105-114

DOI 10.20380/GI2015.14

  • BibTex

    author = {Bouchard, C. and Nesme, M. and Tournier, M. and Wang, B. and Faure, F. and Kry, P.},
    title = {6D frictional contact for rigid bodies},
    booktitle = {Proceedings of Graphics Interface 2015},
    series = {GI 2015},
    year = {2015},
    issn = {0713-5424},
    isbn = {978-1-4822-6003-8},
    location = {Halifax, Nova Scotia, Canada},
    pages = {105--114},
    numpages = {10},
    doi = {10.20380/GI2015.14},
    publisher = {Canadian Human-Computer Communications Society},
    address = {Toronto, Ontario, Canada},
  • Supplementary Media


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.