期刊
ACM TRANSACTIONS ON GRAPHICS
卷 40, 期 4, 页码 -出版社
ASSOC COMPUTING MACHINERY
DOI: 10.1145/3450626.3459802
关键词
Rigid Body Simulation; Contact Mechanics; Continuous Collision Detection
资金
- NSF CAREER award [1652515, IIS-1943199]
- NSF [IIS-1320635, DMS-1436591, DMS-1821334, OAC-1835712, OIA-1937043, CHS-1908767, CHS-1901091, CCF-1813624, ECCS-2023780]
We have introduced the first implicit time-stepping algorithm for rigid body dynamics, with contact and friction, that ensures intersection-free configurations at every time step. Our algorithm explicitly models the curved trajectories traced by rigid bodies in collision detection and response.
We introduce the first implicit time-stepping algorithm for rigid body dynamics, with contact and friction, that guarantees intersection-free configurations at every time step. Our algorithm explicitly models the curved trajectories traced by rigid bodies in both collision detection and response. For collision detection, we propose a conservative narrowphase collision detection algorithm for curved trajectories, which reduces the problem to a sequence of linear CCD queries with minimal separation. For time integration and contact response, we extend the recently proposed incremental potential contact framework to reduced coordinates and rigid body dynamics. We introduce a benchmark for rigid body simulation and show that our approach, while less efficient than alternatives, can robustly handle a wide array of complex scenes, which cannot be simulated with competing methods, without requiring per-scene parameter tuning.
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