We present Divide and Truncate (DAT), a unified framework for coupling multi-physics systems through penetration-free collision handling, including rigid bodies, volumetric soft bodies, thin shells, rods, and animated objects. By partitioning the ambient space into exclusive regions and truncating displacements to remain within them, DAT guarantees penetration-free contact resolution. Our \emph{Planar-DAT} variant further refines this by restricting only motion toward nearby surfaces, leaving tangential movement unconstrained, which addresses the artificial damping and deadlock problems of previous works. The framework is material-agnostic: each object responds to contact without knowledge of the opposing body's physics. Our method is also solver-agnostic; it can be integrated seamlessly with any iterative optimizer as a post-processing step, enabling robust simulation of complex multi-body interactions.

翻译：我们提出了Divide and Truncate（DAT），一个通过无穿透碰撞处理来耦合多物理场系统的统一框架，涵盖刚体、体积软体、薄壳、杆件及动画角色。通过将环境空间划分为互斥区域，并将位移截断以限制在这些区域内，DAT保证了无穿透接触求解。我们的Planar-DAT变体进一步优化了这一机制：仅限制朝向邻近表面的运动，而切向运动保持无约束，从而解决了先前工作中的人工阻尼与死锁问题。该框架与材料类型无关：每个对象在响应接触时无需知晓对立物体的物理特性。本方法同时与求解器类型无关：可作为后处理步骤无缝集成至任意迭代优化器中，实现对复杂多体相互作用的稳健模拟。