This paper proposes a new method for real-time rigid body simulations based on a volume rich penalty method. The penalty method, which employs spring-damper model, is a simple and useful method for real-time simulation of multi-bodies. However, simple penalty method cannot handle face-face contact, because simple penalty method cannot find application point of reflection force.

We suppose distributed small spring-damper model to solve the problem. We analyze intersecting part of bodies and integrate forces and torques from distributed spring-damper models. We implement the simulator and compare our simulator with simple penalty method. It showed that our simulator solve the face-face contact problem. In addition, we attach haptic interface to the simulator for interaction. It shows that we were able to interact with virtual world by haptic interfaces.