Abstract：In the virtual surgery training, the computation of collision force is indispensable. Usually, the friction between colliders is neglected in the computing contact force. This paper proposed a method to compute the contact force with friction. First, the particle system that is widely used in physical simulation in computer graphics was established. And the total ODEs were solved through implicit Euler method. Then, the potential contact points were found out through collision detection and the mathematical models of collision constraints and friction constraints were constructed, and subsequently the contact force with friction was computed by Guass-Seidel-like algorithm. Then 10 single contact and double contact surface contact collision experiments were carried out respectively, and then 100 multiple contact surface collision experiments were carried out, and the average operation time was analyzed. The experimental results showed that the average response time of the model collision was 0.02 s under the contact of single contact surface and double contact surface, and the average fluctuation range was in the range of + 0.02 units after the contact force was stable. In the experiment of the contact of multi contact surface, the average operation time of each contact point was 1.9 ms when 11 contact points contact, which could meet the real time requirement of physical simulation.
欧惠棠,李晋芳,莫建清. 虚拟手术中带摩擦的碰撞力计算及其物理仿真研究[J]. 中国生物医学工程学报, 2018, 37(3): 319-326.
Ou Huitang, Li Jinfang, Mo Jianqing. Research of Force Computation and Physical Simulation of Collision with Friction in Virtual Surgery. Chinese Journal of Biomedical Engineering, 2018, 37(3): 319-326.
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