Preventing collapse within mass-spring-damper models of deformable objects

Mass-spring-damper (MSD) models have been used by a number of researchers in attempts to model deformable objects. One of the main advantages of this approach is its simplicity. This means that it can be implemented quickly end it is also relatively easy to integrate with other techniques e.g. for collision detection or to impose constraints. However, the simplicity of the MSD models commonly used means that they can exhibit unwanted behaviour under certain conditions. The worst aspect of this is the tendency of MSD models to collapse under relatively! small compressive force. This paper presents a new robust model which prevents collapse.