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Efficient frictional contacts for soft body dynamics via ADMM

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Abstract

This paper addresses the longstanding challenge of soft body dynamics with frictional contact through a novel combination of Projective Dynamics for elasticity simulation and Alternating Direction Method of Multipliers for frictional contact handling. The approach utilizes parallel local strain projection for deformable bodies and nonlinear Projected Gauss-Seidel for contact with Coulomb friction, consolidated by a pre-factorized global strain propagation step. Integration of contact stabilization, Matchstick anisotropic friction, and Rayleigh damping enhances reliability and usability. Effectiveness, accuracy, and computational efficiency are demonstrated in challenging cases, including multi-layer and persistent contacts. With a CPU-based parallel implementation, our method achieves visually plausible and stable simulation results at an interactive framerate in moderate-scale scenes, showcasing its applicability across various graphics applications.

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Acknowledgements

This work was supported in part by the National Key R &D Program of China (no. 2023YFC3604505), Natural Science Foundation of China (no. U20A20195, 62272017, 62172437), the Postdoctoral Fellowship Program of CPSF under grant number GZC20233375, Beijing Natural Science Foundation (L232065), CAS Interdisciplinary Project (JCTD- 2020-11).

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Authors and Affiliations

  1. State Key Laboratory of Virtual Reality Technology and Systems, School of Computer Science and Engineering, Beihang University, Beijing, China

    Siyan Zhu, Cheng Fang, Peng Yu, Aimin Hao & Junjun Pan

  2. Weta FX, Wellington, New Zealand

    Xiao Zhai

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  1. Siyan Zhu
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  2. Cheng Fang
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  3. Peng Yu
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Contributions

Siyan Zhu: Writing—original draft, Visualization, Validation, Software, Methodology. Cheng Fang: Writing—original draft, Visualization, Validation, Software, Methodology. Peng Yu: Writing—review & editing, Validation, Resources &Material, Funding acquisition. Xiao Zhai: Writing—original draft, review & editing, Methodology, Math derivation. Aimin Hao: Project administration, Resources &Material, Funding acquisition. Junjun Pan: Writing - review & editing, Project administration, Funding acquisition.

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Correspondence to Peng Yu, Xiao Zhai or Junjun Pan.

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Zhu, S., Fang, C., Yu, P. et al. Efficient frictional contacts for soft body dynamics via ADMM. Vis Comput 40, 4569–4583 (2024). https://doi.org/10.1007/s00371-024-03438-8

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