Quasistatic and implicit time integration schemes are typically employed to alleviate the stringent time step restrictions imposed by their explicit counterparts. However, both quasistatic and implicit methods are subject to hidden time step restrictions associated with both the prevention of element inversion and the effects of discontinuous contact forces. Furthermore, although fast iterative solvers typically require a symmetric positive definite global stiffness matrix, a number of factors can lead to indefiniteness such as large jumps in boundary conditions, heavy compression, etc. We present a novel quasistatic algorithm that alleviates geometric and material indefiniteness allowing one to use fast conjugate gradient solvers during Newton-Raphson iteration. Additionally, we robustly compute smooth elastic forces in the presence of highly deformed, inverted elements alleviating artificial time step restrictions typically required to prevent such states. Finally, we propose a novel strategy for treating both collision and self-collision in this context.

@InProceedings{TSIF05,
  author       = "Teran, Joseph and Sifakis, Eftychios and Irving, Geoffrey and Fedkiw, Ronald",
  title        = "Robust Quasistatic Finite Elements and Flesh Simulation",
  booktitle    = "ACM/Eurographics Symposium on Computer Animation (SCA)",
  pages        = "181--190",
  year         = "2005",
  editor       = "K. Anjyo and P. Faloutsos",
  url          = "http://graphics.cs.wisc.edu/Papers/2005/TSIF05"
}