Fast penetration depth estimation for elastic bodies using deformed distance fields

We present a fast penetration depth estimation algorithm between deformable polyhedral objects. We assume the continuum of non-rigid models are discretized using standard techniques, such as finite element or finite difference methods. As the objects deform, the pre-computed distance fields are deformed accordingly to estimate the penetration depth, allowing an enforcement of non-penetration constraints between two colliding elastic bodies. This approach can automatically handle self-penetration and inter-penetration in a uniform manner. We demonstrate its effectiveness on moderately complex simulation scenes.