ACM Transactions on Programming Languages and Systems (TOPLAS)
I3D '90 Proceedings of the 1990 symposium on Interactive 3D graphics
Curved surfaces and coherence for non-penetrating rigid body simulation
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Geometric collisions for time-dependent parametric surfaces
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Numerical recipes in C (2nd ed.): the art of scientific computing
Numerical recipes in C (2nd ed.): the art of scientific computing
Point location in fat subdivisions
Information Processing Letters
Dynamic simulation of nonpenetrating rigid bodies
Dynamic simulation of nonpenetrating rigid bodies
Interval methods for multi-point collisions between time-dependent curved surfaces
SIGGRAPH '93 Proceedings of the 20th annual conference on Computer graphics and interactive techniques
Spacetime constraints revisited
SIGGRAPH '93 Proceedings of the 20th annual conference on Computer graphics and interactive techniques
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Fast contact force computation for nonpenetrating rigid bodies
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
I-COLLIDE: an interactive and exact collision detection system for large-scale environments
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
Approximating polyhedra with spheres for time-critical collision detection
ACM Transactions on Graphics (TOG)
Position-based physics: simulating the motion of many highly interacting spheres and polyhedra
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Adapting simulated behaviors for new characters
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Simulation levels of detail for real-time animation
Proceedings of the conference on Graphics interface '97
Large steps in cloth simulation
Proceedings of the 25th annual conference on Computer graphics and interactive techniques
V-Clip: fast and robust polyhedral collision detection
ACM Transactions on Graphics (TOG)
Data structures for mobile data
SODA '97 Proceedings of the eighth annual ACM-SIAM symposium on Discrete algorithms
A modeling system based on dynamic constraints
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Efficient Dynamic Simulation of Robotic Mechanisms
Efficient Dynamic Simulation of Robotic Mechanisms
Interactive Simulation of Solid Rigid Bodies
IEEE Computer Graphics and Applications
Dynamically Simulated Characters in Virtual Environments
IEEE Computer Graphics and Applications
IEEE Computer Graphics and Applications
Impulse-based dynamic simulation of rigid body systems
Impulse-based dynamic simulation of rigid body systems
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
ACM Transactions on Graphics (TOG)
Hybrid-system simulation for National Airspace System safety analysis
Proceedings of the 32nd conference on Winter simulation
Fast penetration depth computation for physically-based animation
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Robust treatment of collisions, contact and friction for cloth animation
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Algorithmic issues in modeling motion
ACM Computing Surveys (CSUR)
Evaluating the visual fidelity of physically based animations
ACM SIGGRAPH 2003 Papers
Nonconvex rigid bodies with stacking
ACM SIGGRAPH 2003 Papers
A Fast Impulsive Contact Suite for Rigid Body Simulation
IEEE Transactions on Visualization and Computer Graphics
An asynchronous integration and event detection algorithm for simulating multi-agent hybrid systems
ACM Transactions on Modeling and Computer Simulation (TOMACS)
UberFlow: a GPU-based particle engine
Proceedings of the ACM SIGGRAPH/EUROGRAPHICS conference on Graphics hardware
A Network Architecture Supporting Consistent Rich Behavior in Collaborative Interactive Applications
IEEE Transactions on Visualization and Computer Graphics
Generalized penetration depth computation
Proceedings of the 2006 ACM symposium on Solid and physical modeling
Robust treatment of collisions, contact and friction for cloth animation
SIGGRAPH '05 ACM SIGGRAPH 2005 Courses
Introduction to haptic rendering
SIGGRAPH '05 ACM SIGGRAPH 2005 Courses
C-DIST: efficient distance computation for rigid and articulated models in configuration space
Proceedings of the 2007 ACM symposium on Solid and physical modeling
Asynchronous Event-Driven Particle Algorithms
Proceedings of the 21st International Workshop on Principles of Advanced and Distributed Simulation
Generalized penetration depth computation
Computer-Aided Design
Continuous collision detection for articulated models using Taylor models and temporal culling
ACM SIGGRAPH 2007 papers
Backward steps in rigid body simulation
ACM SIGGRAPH 2008 papers
Asynchronous contact mechanics
ACM SIGGRAPH 2009 papers
Interaction: interfaces, algorithms, and applications
ACM SIGGRAPH 2009 Courses
Efficient yarn-based cloth with adaptive contact linearization
ACM SIGGRAPH 2010 papers
Toward high-quality modal contact sound
ACM SIGGRAPH 2011 papers
Constraint-based simulation of interactions between fluids and unconstrained rigid bodies
Proceedings of the 25th Spring Conference on Computer Graphics
Speculative parallel asynchronous contact mechanics
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
Interactive physical simulation on multicore architectures
EG PGV'09 Proceedings of the 9th Eurographics conference on Parallel Graphics and Visualization
A multi-threaded algorithm for computing the largest non-colliding moving geometry
Computer-Aided Design
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The traditional high-level algorithms for rigid body simulation work well for moderate numbers of bodies but scale poorly to systems of hundreds or more moving, interacting bodies. The problem is unnecessary synchronization implicit in these methods. Jefferson's timewarp algorithm [22] is a technique for alleviating this problem in parallel discrete event simulation. Rigid body dynamics, though a continuous process, exhibits many aspects of a discrete one. With modification, the timewarp algorithm can be used in a uniprocessor rigid body simulator to give substantial performance improvements for simulations with large numbers of bodies. This paper describes the limitations of the traditional high-level simulation algorithms, introduces Jefferson's algorithm, and extends and optimizes it for the rigid body case. It addresses issues particular to rigid body simulation, such as collision detection and contact group management, and describes how to incorporate these into the timewarp framework. Quantitative experimental results indicate that the timewarp algorithm offers significant performance improvements over traditional high-level rigid body simulation algorithms, when applied to systems with hundreds of bodies. It also helps pave the way to parallel implementations, as the paper discusses.