{"id":"https://openalex.org/W2004456442","doi":"https://doi.org/10.1145/2185520.2185603","title":"Continuous penalty forces","display_name":"Continuous penalty forces","publication_year":2012,"publication_date":"2012-07-01","ids":{"openalex":"https://openalex.org/W2004456442","doi":"https://doi.org/10.1145/2185520.2185603","mag":"2004456442"},"language":"en","primary_location":{"id":"doi:10.1145/2185520.2185603","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2185520.2185603","pdf_url":null,"source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100659893","display_name":"Min Tang","orcid":"https://orcid.org/0000-0002-7454-0582"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Min Tang","raw_affiliation_strings":["Zhejiang University","Zhejiang, University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Zhejiang, University","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004194238","display_name":"Dinesh Manocha","orcid":"https://orcid.org/0000-0001-7047-9801"},"institutions":[{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dinesh Manocha","raw_affiliation_strings":["University of North Carolina at Chapel Hill"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of North Carolina at Chapel Hill","institution_ids":["https://openalex.org/I114027177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071183334","display_name":"Miguel \u00c1. Otaduy","orcid":"https://orcid.org/0000-0002-3880-7622"},"institutions":[{"id":"https://openalex.org/I182083151","display_name":"Universidad Rey Juan Carlos","ror":"https://ror.org/01v5cv687","country_code":"ES","type":"education","lineage":["https://openalex.org/I182083151"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Miguel A. Otaduy","raw_affiliation_strings":["URJC Madrid","URJC Madrid#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"URJC Madrid","institution_ids":[]},{"raw_affiliation_string":"URJC Madrid#TAB#","institution_ids":["https://openalex.org/I182083151"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057181928","display_name":"Ruofeng Tong","orcid":"https://orcid.org/0000-0002-8167-5354"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruofeng Tong","raw_affiliation_strings":["Zhejiang University","Zhejiang, University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University","institution_ids":["https://openalex.org/I76130692"]},{"raw_affiliation_string":"Zhejiang, University","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.5059,"has_fulltext":false,"cited_by_count":78,"citation_normalized_percentile":{"value":0.98561504,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"31","issue":"4","first_page":"1","last_page":"9"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9873999953269958,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/classification-of-discontinuities","display_name":"Classification of discontinuities","score":0.7790037989616394},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7276712656021118},{"id":"https://openalex.org/keywords/penalty-method","display_name":"Penalty method","score":0.7012447714805603},{"id":"https://openalex.org/keywords/polygon-mesh","display_name":"Polygon mesh","score":0.6402115821838379},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.611518144607544},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5687980651855469},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.504562258720398},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.4637070298194885},{"id":"https://openalex.org/keywords/discontinuity","display_name":"Discontinuity (linguistics)","score":0.4537007510662079},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.42223218083381653},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.29765772819519043},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.15859729051589966}],"concepts":[{"id":"https://openalex.org/C15627037","wikidata":"https://www.wikidata.org/wiki/Q541961","display_name":"Classification of discontinuities","level":2,"score":0.7790037989616394},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7276712656021118},{"id":"https://openalex.org/C6180225","wikidata":"https://www.wikidata.org/wiki/Q3411771","display_name":"Penalty method","level":2,"score":0.7012447714805603},{"id":"https://openalex.org/C31487907","wikidata":"https://www.wikidata.org/wiki/Q1154597","display_name":"Polygon mesh","level":2,"score":0.6402115821838379},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.611518144607544},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5687980651855469},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.504562258720398},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.4637070298194885},{"id":"https://openalex.org/C2777042112","wikidata":"https://www.wikidata.org/wiki/Q5281658","display_name":"Discontinuity (linguistics)","level":2,"score":0.4537007510662079},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.42223218083381653},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29765772819519043},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.15859729051589966},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/2185520.2185603","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2185520.2185603","pdf_url":null,"source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.4399999976158142,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G3603901166","display_name":null,"funder_award_id":"9.17E+26","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G4179037063","display_name":null,"funder_award_id":"2011CB302205","funder_id":"https://openalex.org/F4320321540","funder_display_name":"Ministry of Science and Technology of the People's Republic of China"},{"id":"https://openalex.org/G5402682385","display_name":null,"funder_award_id":"6.12E+15","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7678414129","display_name":null,"funder_award_id":"TIN2009-07942","funder_id":"https://openalex.org/F4320322930","funder_display_name":"Ministerio de Ciencia e Innovaci\u00f3n"},{"id":"https://openalex.org/G8379971704","display_name":null,"funder_award_id":"W911NF-10-1-0506","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G8994741032","display_name":null,"funder_award_id":"ERC-2011-StG-280135 Animetrics","funder_id":"https://openalex.org/F4320334678","funder_display_name":"European Research Council"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321540","display_name":"Ministry of Science and Technology of the People's Republic of China","ror":"https://ror.org/027s68j25"},{"id":"https://openalex.org/F4320322930","display_name":"Ministerio de Ciencia e Innovaci\u00f3n","ror":"https://ror.org/034900433"},{"id":"https://openalex.org/F4320334678","display_name":"European Research Council","ror":"https://ror.org/0472cxd90"},{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1566989922","https://openalex.org/W1602382704","https://openalex.org/W1970980630","https://openalex.org/W1980757084","https://openalex.org/W1987135480","https://openalex.org/W1989871863","https://openalex.org/W2014327631","https://openalex.org/W2020225084","https://openalex.org/W2032113491","https://openalex.org/W2033083202","https://openalex.org/W2087366393","https://openalex.org/W2093596804","https://openalex.org/W2106286182","https://openalex.org/W2113091440","https://openalex.org/W2118625698","https://openalex.org/W2119149863","https://openalex.org/W2119899692","https://openalex.org/W2123248055","https://openalex.org/W2127794343","https://openalex.org/W2148901137","https://openalex.org/W2151586077","https://openalex.org/W2152715074","https://openalex.org/W2153520829","https://openalex.org/W2155823170","https://openalex.org/W2157805404","https://openalex.org/W2158404524","https://openalex.org/W2159142102","https://openalex.org/W2163583940","https://openalex.org/W2163637712","https://openalex.org/W2171861765","https://openalex.org/W2235036220","https://openalex.org/W2989063522","https://openalex.org/W2998248225","https://openalex.org/W4229525926","https://openalex.org/W4241597717","https://openalex.org/W4250733865","https://openalex.org/W4254440941","https://openalex.org/W4299968561"],"related_works":["https://openalex.org/W2323190011","https://openalex.org/W162062087","https://openalex.org/W3039499377","https://openalex.org/W4241629433","https://openalex.org/W2085032340","https://openalex.org/W2026226327","https://openalex.org/W1989965977","https://openalex.org/W1756153455","https://openalex.org/W2056095867","https://openalex.org/W2232767080"],"abstract_inverted_index":{"We":[0,45,101],"present":[1,69],"a":[2,26,70],"simple":[3],"algorithm":[4,24],"to":[5,10,31,73,89],"compute":[6,74],"continuous":[7,76],"penalty":[8,39,55,91],"forces":[9,56],"determine":[11],"collision":[12,79],"response":[13],"between":[14,62],"rigid":[15],"and":[16,35,53,77,93,99],"deformable":[17],"models":[18],"bounded":[19],"by":[20,42],"triangle":[21],"meshes.":[22],"Our":[23,81],"computes":[25],"well-behaved":[27],"solution":[28],"in":[29],"contrast":[30],"the":[32,58,63,75,97],"traditional":[33],"stability":[34,98],"robustness":[36],"problems":[37],"of":[38],"methods,":[40,92],"induced":[41],"force":[43],"discontinuities.":[44],"trace":[46],"contact":[47],"features":[48],"along":[49,57],"their":[50],"deforming":[51],"trajectories":[52],"accumulate":[54],"penetration":[59],"time":[60],"intervals":[61],"overlapping":[64],"feature":[65],"pairs.":[66],"Moreover,":[67],"we":[68],"closed-form":[71],"expression":[72],"smooth":[78],"response.":[80],"method":[82],"has":[83],"very":[84],"small":[85],"additional":[86],"overhead":[87],"compared":[88],"previous":[90],"can":[94],"significantly":[95],"improve":[96],"robustness.":[100],"highlight":[102],"its":[103],"benefits":[104],"on":[105],"several":[106],"benchmarks.":[107]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}