supported in part by the National High-tech R&D Program of China (No. 2013AA013903);National Natural Science Foundation of China (No. 61572423);Zhejiang Provincial NSFC (No. LZ16F020003);the National Key Technology R&D Program of China (No. 2012BAD35B01);the DoctoralFund of Ministry of Education of China (No. 20130101110133);Ruofeng Tong is partly supported by National Natural Science Foundation of China (No. 61572424)
We present an efficient and robust method which performs well for both strain limiting and treatment of simultaneous collisions. Our method formulates strain constraints and collision constraints as a serial of linear...