filename : p_Hei04c.pdf entry : inproceedings conference : VMV 2004, Stanford, USA, November 16-18 pages : 339-346 year : 2004 month : November title : Consistent Penetration Depth Estimation for Deformable Collision Response subtitle : author : B. Heidelberger, M. Teschner, R. Keiser, M. Mueller, M. Gross booktitle : Proceedings of Vision, Modeling, Visualization 2004 ISSN/ISBN : editor : publisher : publ.place : volume : issue : language : english keywords : abstract : Penalty approaches can be used to efficiently resolve collisions of dynamically simulated rigid and deformable objects. These methods compute penalty forces based on the penetration depth of intersecting objects and there exist many algorithms for estimating the exact penetration depth. However, in discrete-time simulations, this information can cause non-plausible collision responses in case of large penetrations or due to the object discretization. In this paper, we present a method to compute consistent n-body penetration depth information in order to reduce collision response artifacts inherent to existing penetration depth approaches. The method considers a set of close surface features to avoid discontinuous penetration depths. Further, a propagation scheme is applied in case of large penetrations to avoid non-plausible, inconsistent penetration depth information.