research-article

Detailed rigid body simulation with extended position based dynamics

Authors:

Matthias Müller,

Nuttapong Chentanez,

Stefan Jeschke,

Tae-Yong KimAuthors Info & Claims

SCA '20: Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation

Article No.: 10, Pages 1 - 12

https://doi.org/10.1111/cgf.14105

Published: 22 November 2020 Publication History

Abstract

We present a rigid body simulation method that can resolve small temporal and spatial details by using a quasi explicit integration scheme that is unconditionally stable. Traditional rigid body simulators linearize constraints because they operate on the velocity level or solve the equations of motion implicitly thereby freezing the constraint directions for multiple iterations. Our method always works with the most recent constraint directions. This allows us to trace high speed motion of objects colliding against curved geometry, to reduce the number of constraints, to increase the robustness of the simulation, and to simplify the formulation of the solver. In this paper we provide all the details to implement a fully fledged rigid body solver that handles contacts, a variety of joint types and the interaction with soft objects.

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Cited By

Giles CAndrews S(2024)Adaptive Sub-stepping for Constrained Rigid Body SimulationsProceedings of the 17th ACM SIGGRAPH Conference on Motion, Interaction, and Games10.1145/3677388.3696331(1-6)Online publication date: 21-Nov-2024
https://dl.acm.org/doi/10.1145/3677388.3696331
Chen YLy MWojtan C(2024)Primal-Dual Non-Smooth Friction for Rigid Body AnimationACM SIGGRAPH 2024 Conference Papers10.1145/3641519.3657485(1-10)Online publication date: 13-Jul-2024
https://dl.acm.org/doi/10.1145/3641519.3657485
Mercier-Aubin AKry PKry PCani MSkouras MWang H(2024)A Multi-Layer Solver for XPBDProceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation10.1111/cgf.15186(1-11)Online publication date: 21-Aug-2024
https://dl.acm.org/doi/10.1111/cgf.15186
Show More Cited By

Index Terms

Detailed rigid body simulation with extended position based dynamics
1. Computing methodologies
  1. Modeling and simulation
    1. Simulation types and techniques
      1. Interactive simulation
      2. Simulation by animation

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Information & Contributors

Information

Published In

cover image ACM Conferences

SCA '20: Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation

October 2020

252 pages

Conference Chairs:
David Levin
University of Toronto
,
Paul Kry
McGill University

Sponsors

SIGGRAPH: ACM Special Interest Group on Computer Graphics and Interactive Techniques

In-Cooperation

EUROGRAPHICS: The European Association for Computer Graphics

Publisher

Eurographics Association

Goslar, Germany

Publication History

Published: 22 November 2020

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SCA '20

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SIGGRAPH

SCA '20: The ACM SIGGRAPH / Eurographics Symposium on Computer Animation

October 6 - 9, 2020

Virtual Event, Canada

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Overall Acceptance Rate 183 of 487 submissions, 38%

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Citations

Cited By

Giles CAndrews S(2024)Adaptive Sub-stepping for Constrained Rigid Body SimulationsProceedings of the 17th ACM SIGGRAPH Conference on Motion, Interaction, and Games10.1145/3677388.3696331(1-6)Online publication date: 21-Nov-2024
https://dl.acm.org/doi/10.1145/3677388.3696331
Chen YLy MWojtan C(2024)Primal-Dual Non-Smooth Friction for Rigid Body AnimationACM SIGGRAPH 2024 Conference Papers10.1145/3641519.3657485(1-10)Online publication date: 13-Jul-2024
https://dl.acm.org/doi/10.1145/3641519.3657485
Mercier-Aubin AKry PKry PCani MSkouras MWang H(2024)A Multi-Layer Solver for XPBDProceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation10.1111/cgf.15186(1-11)Online publication date: 21-Aug-2024
https://dl.acm.org/doi/10.1111/cgf.15186
Chen YLy MWojtan C(2023)Unified treatment of contact, friction and shock-propagation in rigid body animationProceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation10.1145/3606037.3606836(1-2)Online publication date: 4-Aug-2023
https://dl.acm.org/doi/10.1145/3606037.3606836
Ton-That QKry PAndrews S(2023)Parallel block Neo-Hookean XPBD using graph clusteringComputers and Graphics10.1016/j.cag.2022.10.009110:C(1-10)Online publication date: 1-Feb-2023
https://dl.acm.org/doi/10.1016/j.cag.2022.10.009
Takahashi TBatty C(2022)ElastoMonolithACM Transactions on Graphics10.1145/3550454.355547441:6(1-19)Online publication date: 30-Nov-2022
https://dl.acm.org/doi/10.1145/3550454.3555474
Ferguson ZLi MSchneider TGil-Ureta FLanglois TJiang CZorin DKaufman DPanozzo D(2021)Intersection-free rigid body dynamicsACM Transactions on Graphics10.1145/3450626.345980240:4(1-16)Online publication date: 19-Jul-2021
https://dl.acm.org/doi/10.1145/3450626.3459802

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