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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| Vydáno v: | Computer graphics forum Ročník 39; číslo 8; s. 101 - 112 |
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| Hlavní autoři: | , , , , |
| Médium: | Journal Article |
| Jazyk: | angličtina |
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Oxford
Blackwell Publishing Ltd
01.12.2020
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| ISSN: | 0167-7055, 1467-8659 |
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| Abstract | 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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| AbstractList | 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. |
| Author | Macklin, Miles Kim, Tae‐Yong Müller, Matthias Jeschke, Stefan Chentanez, Nuttapong |
| Author_xml | – sequence: 1 givenname: Matthias surname: Müller fullname: Müller, Matthias organization: NVIDIA – sequence: 2 givenname: Miles surname: Macklin fullname: Macklin, Miles organization: University of Copenhagen – sequence: 3 givenname: Nuttapong surname: Chentanez fullname: Chentanez, Nuttapong organization: NVIDIA – sequence: 4 givenname: Stefan surname: Jeschke fullname: Jeschke, Stefan organization: NVIDIA – sequence: 5 givenname: Tae‐Yong surname: Kim fullname: Kim, Tae‐Yong organization: NVIDIA |
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| Copyright | 2020 The Author(s) Computer Graphics Forum © 2020 The Eurographics Association and John Wiley & Sons Ltd. Published by John Wiley & Sons Ltd. 2020 The Eurographics Association and John Wiley & Sons Ltd. |
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| SubjectTerms | 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 |
| Title | Detailed Rigid Body Simulation with Extended Position Based Dynamics |
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