A validation of the penalty model for collisions

In this paper, we describe models and algorithms designed to produce effici ent and physically consistent dynamic simulations. These models and algorit hms have been implemented in a unique framework, modeling both deformations and contacts through visco-elastic relations. Since this model of interact ion (known as 'penalty based') is much debated, we present a detailed study of this model. Indeed, the 'penalty' based model is supposed to have two m ajor drawbacks: determining the visco-elastic parameters and choosing the c omputation time step. We present a solution for both problems based on phys ical concepts. Finally, we will present results comparing real data, 'impul se' based simulation and 'penalty'-based simulation.