Contact Skinning

In this paper, we propose a new approach to model interaction s through a skinning method. Skinning is a frequently used technique to animate a mesh based on skeleton motion. In the case of a hand motion sequence used to manipulate and grasp virtual objects, it is essential to acc urately represent the contact between the virtual objects and the animated hand. To improve the level of realism, our ap p oach allows to accurately solve friction contact laws. In addition, contact constraints defined on the surfac e of the hand can be applied onto the skeleton to produce plausible motion. We illustrate our work through two exampl es: the real-time simulation of a grasping task and a character animation based on motion capture.