@article {878256,
	title = {Contact skinning},
	journal = {Eurographics conference (short paper)},
	year = {2008},
	abstract = {We present a new algorithm for near-interactive simulation of skeleton driven, high resolution elasticity models. Our methodology is used for soft tissue deformation in character animation. The algorithm is based on a novel discretization of corotational elasticity over a hexahedral lattice. Within this framework we enforce positive definiteness of the stiffness matrix to allow efficient quasistatics and dynamics. In addition, we present a multigrid method that converges with very high efficiency. Our design targets performance through parallelism using a fully vectorized and branch-free SVD algorithm as well as a stable one-point quadrature scheme. Since body collisions, self collisions and soft-constraints are necessary for real-world examples, we present a simple framework for enforcing them. The whole approach is demonstrated in an end-toend production-level character skinning system.},
	url = {http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.232.1251\&rep=rep1\&type=pdf},
	author = {Duriez, Christian}
}
