A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Robot Dynamics Algorithm
Continuous contact simulation for smooth surfaces
ACM Transactions on Graphics (TOG)
D-NURBS: A Physics-Based Framework for Geometric Design
IEEE Transactions on Visualization and Computer Graphics
Continuous deformation energy for dynamic material splines subject to finite displacements
Proceedings of the Eurographic workshop on Computer animation and simulation
Smooth constraints for spline variational modeling
Proceedings of the 2nd international conference on Computer graphics and interactive techniques in Australasia and South East Asia
Convex Optimization
Simulating complex hair with robust collision handling
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
Cords: Geometric Curve Primitives for Modeling Contact
IEEE Computer Graphics and Applications
Super-helices for predicting the dynamics of natural hair
ACM SIGGRAPH 2006 Papers
Direct Methods for Sparse Linear Systems (Fundamentals of Algorithms 2)
Direct Methods for Sparse Linear Systems (Fundamentals of Algorithms 2)
Oriented strands: dynamics of stiff multi-body system
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
Interactive simulation of one-dimensional flexible parts
Computer-Aided Design
A robust method for real-time thread simulation
Proceedings of the 2007 ACM symposium on Virtual reality software and technology
Geometrically exact dynamic splines
Computer-Aided Design
Spline joints for multibody dynamics
ACM SIGGRAPH 2008 papers
ACM SIGGRAPH 2008 papers
A mass spring model for hair simulation
ACM SIGGRAPH 2008 papers
Simulating knitted cloth at the yarn level
ACM SIGGRAPH 2008 papers
Musculotendon simulation for hand animation
ACM SIGGRAPH 2008 papers
Staggered projections for frictional contact in multibody systems
ACM SIGGRAPH Asia 2008 papers
IEEE Transactions on Visualization and Computer Graphics
Detail preserving continuum simulation of straight hair
ACM SIGGRAPH 2009 papers
Interactive simulation of surgical needle insertion and steering
ACM SIGGRAPH 2009 papers
Elevation cable modeling for interactive simulation of cranes
Proceedings of the 2008 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Unified simulation of elastic rods, shells, and solids
ACM SIGGRAPH 2010 papers
Efficient yarn-based cloth with adaptive contact linearization
ACM SIGGRAPH 2010 papers
ACM SIGGRAPH 2010 papers
Hybrid, Multiresolution Wires with Massless Frictional Contacts
IEEE Transactions on Visualization and Computer Graphics
ACM Transactions on Graphics (TOG) - SIGGRAPH 2013 Conference Proceedings
Eulerian-on-lagrangian simulation
ACM Transactions on Graphics (TOG)
Proceedings of the 19th ACM Symposium on Virtual Reality Software and Technology
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A significant challenge in applications of computer animation is the simulation of ropes, cables, and other highly constrained strandlike physical curves. Such scenarios occur frequently, for instance, when a strand wraps around rigid bodies or passes through narrow sheaths. Purely Lagrangian methods designed for less constrained applications such as hair simulation suffer from difficulties in these important cases. To overcome this, we introduce a new framework that combines Lagrangian and Eulerian approaches. The two key contributions are the reduced node, whose degrees of freedom precisely match the constraint, and the Eulerian node, which allows constraint handling that is independent of the initial discretization of the strand. The resulting system generates robust, efficient, and accurate simulations of massively constrained systems of rigid bodies and strands.