A brief review and a new treatment for rigid bodies collision models

Abstract

In general the motion of a body takes place in a confined environment and collision of the body with the containing wall is possible. In order to predict the dynamics of a body in this condition one must know what happens in a collision. Therefore, the problem is: if one knows the pre-collision dynamics of the body and the properties of the body and the wall one wants to predict the post-collision dynamics. This problem is quite old and it appeared in the literature in 1668. Up to 1984 it seemed that Newton's model was enough to solve the problem. But it was found that this was not the case and a renewed interest in the problem appeared. The aim of this paper is to treat the problem of plan collisions of rigid bodies, to classify the different models found in the literature and to present a new model that is a generalization of most of these models

Distant Collision Response in Rigid Body Simulations

“…Included in this survey is a discussion of the single parameter coefficient of restitution models attributed to Newton and Poisson, as well as the multi‐parameter model of Chatterjee and Ruina [CR98], which allows frictional effects to be accounted for in the collision response. Cataldo and Sampaio [CS01] provide a short yet informative survey of other rigid body collision models used in mechanical engineering. More recently, Wang et al [WSJP17] propose storing texture maps of precomputed collisions responses, and a method for combining information stored at the point of impact on each surface to produce a coefficient of restitution specific to the geometry of two colliding objects.…”

A Framework for Collision-Tolerant Optimal Trajectory Planning of Autonomous Vehicles

“…The general two body collision problem can be stated as follows: given the geometric, inertial, material, and dynamic properties of two bodies before a collision, predict the dynamic properties of those bodies after the collision Cataldo (2001). High velocity contact is a complex phenomena which requires the consideration of many interacting variables, consequently these are very difficult to model with high accuracy.…”