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Position based simulation of solids with accurate contact handling
- Source :
- Computers & Graphics. 69:12-23
- Publication Year :
- 2017
- Publisher :
- Elsevier BV, 2017.
-
Abstract
- Simulating multi-body dynamics with both rigid and flexible parts and with frictional contacts is a hard problem. We solve this by expressing the couplings between the bodies as position level constraints. The implicit treatment of the constraint directions gives us improved stability over velocity based methods. Then by employing regularization of nonlinear constraints and a convex minimization formulation, we bridge constraint-based methods to traditional force-based methods. In fact, the former are just a dual variables formulation of the latter. We solve this dual problem using position based dynamics (PBD). We show how PBD is a completely valid modeling technique and we extend it with an accurate contact and Coulomb friction model. We further show for the first time how the same solver can be used to simulate both rigid and deformable solids with two way coupling. For the soft bodies we introduce a novel form of linear finite elements expressed as constraints, that is more accurate than PBD mass-spring systems. More of our results include the energy conserving Newmark integrator and the accelerated Jacobi solver suitable for parallel architectures. Note that this paper is an extended and revised version of the conference paper published in [1].
- Subjects :
- Coupling
Mathematical optimization
General Engineering
020207 software engineering
02 engineering and technology
Solver
Computer Graphics and Computer-Aided Design
Position based dynamics
Regularization (mathematics)
Finite element method
Human-Computer Interaction
Nonlinear system
Integrator
Convex optimization
0202 electrical engineering, electronic engineering, information engineering
Applied mathematics
020201 artificial intelligence & image processing
Mathematics
Subjects
Details
- ISSN :
- 00978493
- Volume :
- 69
- Database :
- OpenAIRE
- Journal :
- Computers & Graphics
- Accession number :
- edsair.doi...........7813ceb7fc7baf3c84427cf5b95bbe60