In this paper, we present a versatile and robust model for geometrically complex deformable solids. Our approach can be applied to deformable tetrahedral meshes and to deformable triangle meshes. The model considers elastic and plastic deformation. It handles a large variety of material properties ranging from stiff to fluid-like behavior. Due to the computational efficiency of our approach, complex environments consisting of up to several thousand primitives can be simulated at interactive speed.

The presented approach to deformable modeling is part of a simulation environment with integrated collision handling for tetrahedral meshes. For visualization purposes, tetrahedral meshes can be coupled with high-resolution surface meshes. Results are presented for deformable tetrahedral meshes and for deformable triangle meshes which are used to represent cloth and discrete shells.