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A unified newton barrier method for multibody dynamics

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Chenfanfu JiangAuthors Info & Claims

ACM Transactions on Graphics (TOG), Volume 41, Issue 4

Article No.: 66, Pages 1 - 14

https://doi.org/10.1145/3528223.3530076

Published: 22 July 2022 Publication History

Abstract

We present a simulation framework for multibody dynamics via a universal variational integration. Our method naturally supports mixed rigid-deformables and mixed codimensional geometries, while providing guaranteed numerical convergence and accurate resolution of contact, friction, and a wide range of articulation constraints. We unify (1) the treatment of simulation degrees of freedom for rigid and soft bodies by formulating them both in terms of Lagrangian nodal displacements, (2) the handling of general linear equality joint constraints through an efficient change-of-variable strategy, (3) the enforcement of nonlinear articulation constraints based on novel distance potential energies, (4) the resolution of frictional contact between mixed dimensions and bodies with a variational Incremental Potential Contact formulation, and (5) the modeling of generalized restitution through semi-implicit Rayleigh damping. We conduct extensive unit tests and benchmark studies to demonstrate the efficacy of our method.

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Index Terms

A unified newton barrier method for multibody dynamics
1. Computing methodologies
  1. Computer graphics
    1. Animation
      1. Physical simulation

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cover image ACM Transactions on Graphics

ACM Transactions on Graphics Volume 41, Issue 4

July 2022

1978 pages

ISSN:0730-0301

EISSN:1557-7368

DOI:10.1145/3528223

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Published: 22 July 2022

Published in TOG Volume 41, Issue 4

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Bridgeman LRainer GGhosh A(2024)High-Quality Facial Geometry from Sparse Heterogeneous Devices under Active IlluminationProceedings of 21st ACM SIGGRAPH Conference on Visual Media Production10.1145/3697294.3697296(1-10)Online publication date: 18-Nov-2024
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Ando R(2024)A Cubic Barrier with Elasticity-Inclusive Dynamic StiffnessACM Transactions on Graphics10.1145/368790843:6(1-13)Online publication date: 19-Dec-2024
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