I-Cloth: Incremental Collision Handling for GPU-Based Interactive Cloth Simulation

We present an incremental collision handling algorithm for GPU-based interactive cloth simulation. Our approach exploits the spatial and temporal coherence between successive iterations of an optinization-based solver for collision response computation. We present an incremental continuous collision detection algorithm that keeps track of deforming vertices and combine it with spatial hashing. We use a non-linear GPU-based impact zone solver to resolve the penetrations. We combine our collision handling algorithm with implicit integration to use large time steps. Our overall algorithm, I-Cloth, can simulate complex cloth deformation with a few hundred thousand vertices at 2 - 8 frames per second on a commodity GPU. We highlight its performance on different benchmarks and observe up to 7 - 10X speedup over prior algorithms.