Primal/Dual Descent Methods for Dynamics

We examine the relationship between primal, or force‐based, and dual, or constraint‐based formulations of dynamics. Variational frameworks such as Projective Dynamics have proved popular for deformable simulation, however they have not been adopted for contact‐rich scenarios such as rigid body simul...

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Bibliographic Details
Published in:	Computer graphics forum Vol. 39; no. 8; pp. 89 - 100
Main Authors:	Macklin, M., Erleben, K., Müller, M., Chentanez, N., Jeschke, S., Kim, T.Y.
Format:	Journal Article
Language:	English
Published:	Oxford Blackwell Publishing Ltd 01.12.2020
Subjects:	CCS Concepts Computer systems organization → Robotics Computing methodologies → Simulation by animation contact Contact force Deformation Formability friction Interactive simulation Mathematical analysis Numerical analysis numerical optimization Rigid structures robotics Simulation Trajectory optimization
ISSN:	0167-7055, 1467-8659
Online Access:	Get full text
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