Interactive Rigid Body Dynamics Using a Projected Gauss–Seidel Subspace Minimization Method

  • Morten Silcowitz
  • Sarah Niebe
  • Kenny Erleben
Part of the Communications in Computer and Information Science book series (CCIS, volume 229)


Interactive rigid body simulation is important for robot simulation and virtual design. A vital part of the simulation is the computation of contact forces. This paper addresses the contact force problem, as used in interactive simulation. Contact forces are applied to prevent rigid bodies from penetrating and to control slipping between bodies. Accurate contact force determination is a computationally hard problem. Thus, in practice one trades accuracy for performance. This results in visual artefacts such as viscous or damped contact response. In this paper, we present a new approach to contact force determination. We formulate the contact force problem as a nonlinear complementarity problem, and discretize the problem to derive the Projected Gauss–Seidel method. We combine the Projected Gauss–Seidel method with a subspace minimization method. Our new method shows improved qualities and superior convergence properties for specific configurations.


Contact Force Complementarity Problem Linear Complementarity Problem Merit Function Nonlinear Complementarity Problem 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Morten Silcowitz
    • 1
  • Sarah Niebe
    • 1
  • Kenny Erleben
    • 1
  1. 1.eScience CenterUniversity of CopenhagenCopenhagenDenmark

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