Abstract
We present an interface between a deformable-body mechanics model and a rigid-body mechanics model. What is novel with our approach is that the physical representation in both the models is the same, which ensures behavioral correctness and allows great flexibility. We use a mass---spring representation extended with the concept of volume, and thus contact and collision. All physical interaction occurs between the mass elements only; thus there is no need for the explicit handling of interaction between rigid and deformable bodies or between rigid and rigid bodies. This also means that bodies can be partially rigid and partially deformable. It is also possible to change dynamically whether part of a body should be rigid or not. We present a demonstration example and possible applications in conceptual design engineering, geometric modeling, as well as computer animation.
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