Real-time and physically realistic simulation of global deformation

on, under the same gravitational force, using quadratic strain. Collision Integration Scheme: Simulating deformable object collisions using a penalty method [3] requires tiny time steps to product visually satisfactory animations. A general impulse collision [1] is considered more efficient and accurate but still requires more computation than collision-free dynamics. For deformable object collisions, the collision time can be assumed finite (unlike the instantaneous collision of rigid bodies). By recognizing this, we propose an efficient way to handle collision. Consider the collision between a deformable body with a stationary rigid body (figure 2). Assume at time tn , the nodep, with velocity v#p#n , is colliding with a rigid surface of outward normal n.Then the non-penetration constraint at node p can be enforced by setting the normal com