Models and algorithms for the collision of rigid and deformable bodies

In this paper, 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 the model of interaction "penalty based" is much debated, we present a compared study of both the "penalty" and "impulse" contact models. Indeed, the "penalty" based model is said to have two major drawbacks : - the determination of the viscoelastic parameters and - the choice of the computation time step. We present a solution for both problems based on physical concepts. Finally, we will present results comparing real data, "impulse" based simulation and "penalty" based simulation.