Detailed Rigid Body Simulation with Extended Position Based Dynamics

We present a rigid body simulation method that can resolve small temporal and spatial details by using a quasi explicit integration scheme that is unconditionally stable. Traditional rigid body simulators linearize constraints because they operate on the velocity level or solve the equations of moti...

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Bibliographic Details
Published in:Computer graphics forum Vol. 39; no. 8; pp. 101 - 112
Main Authors: Müller, Matthias, Macklin, Miles, Chentanez, Nuttapong, Jeschke, Stefan, Kim, Tae‐Yong
Format: Journal Article
Language:English
Published: Oxford Blackwell Publishing Ltd 01.12.2020
Subjects:
CCS Concepts
Computing methodologies → Simulation by animation
Constraints
Equations of motion
Freezing
Interactive simulation
Object motion
position based dynamics
Rigid body simulation
Rigid structures
Rigid-body dynamics
Simulation
Simulators
soft body simulation
ISSN:0167-7055, 1467-8659
Online Access:Get full text
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Summary:We present a rigid body simulation method that can resolve small temporal and spatial details by using a quasi explicit integration scheme that is unconditionally stable. Traditional rigid body simulators linearize constraints because they operate on the velocity level or solve the equations of motion implicitly thereby freezing the constraint directions for multiple iterations. Our method always works with the most recent constraint directions. This allows us to trace high speed motion of objects colliding against curved geometry, to reduce the number of constraints, to increase the robustness of the simulation, and to simplify the formulation of the solver. In this paper we provide all the details to implement a fully fledged rigid body solver that handles contacts, a variety of joint types and the interaction with soft objects.
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ISSN:0167-7055
1467-8659
DOI:10.1111/cgf.14105