Analytical methods for dynamic simulation of non-penetrating rigid bodies
SIGGRAPH '89 Proceedings of the 16th annual conference on Computer graphics and interactive techniques
Dynamic simulation of non-penetrating flexible bodies
SIGGRAPH '92 Proceedings of the 19th 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
Impulse-based simulation of rigid bodies
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
I-COLLIDE: an interactive and exact collision detection system for large-scale environments
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
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
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)
A constraint-based approach to rigid body dynamics for virtual reality applications
VRST '98 Proceedings of the ACM symposium on Virtual reality software and technology
Rotational polygon overlap minimization and compaction
Computational Geometry: Theory and Applications - special issue on applied computational geometry
Graphical modeling and animation of brittle fracture
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Timewarp rigid body simulation
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
Sampling plausible solutions to multi-body constraint problems
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
A modeling system based on dynamic constraints
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Collision Detection and Response for Computer Animation
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
SWIFT: Accelerated Proximity Queries Using Multi-Level Voronoi Marching
SWIFT: Accelerated Proximity Queries Using Multi-Level Voronoi Marching
Robust treatment of collisions, contact and friction for cloth animation
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Nonconvex rigid bodies with stacking
ACM SIGGRAPH 2003 Papers
Proceedings of the 2003 conference on Diversity in computing
A Fast Impulsive Contact Suite for Rigid Body Simulation
IEEE Transactions on Visualization and Computer Graphics
Quasi-rigid objects in contact
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Fast frictional dynamics for rigid bodies
ACM SIGGRAPH 2005 Papers
ACM SIGGRAPH 2005 Papers
Particle-based simulation of granular materials
Proceedings of the 2005 ACM SIGGRAPH/Eurographics symposium on Computer animation
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
Velocity-based shock propagation for multibody dynamics animation
ACM Transactions on Graphics (TOG)
Generalized penetration depth computation
Computer-Aided Design
Backward steps in rigid body simulation
ACM SIGGRAPH 2008 papers
Staggered projections for frictional contact in multibody systems
ACM SIGGRAPH Asia 2008 papers
Asynchronous contact mechanics
ACM SIGGRAPH 2009 papers
Interaction: interfaces, algorithms, and applications
ACM SIGGRAPH 2009 Courses
Volume contact constraints at arbitrary resolution
ACM SIGGRAPH 2010 papers
A nonsmooth Newton solver for capturing exact Coulomb friction in fiber assemblies
ACM Transactions on Graphics (TOG)
Automated digital dental articulation
MICCAI'10 Proceedings of the 13th international conference on Medical image computing and computer-assisted intervention: Part III
Toward high-quality modal contact sound
ACM SIGGRAPH 2011 papers
Proceedings of the twenty-second annual ACM-SIAM symposium on Discrete Algorithms
Asynchronous contact mechanics
Communications of the ACM
| Hi-index | 0.02 |
Current techniques for rigid body simulation run slowly on scenes with many bodies in close proximity. Each time two bodies collide or make or break a static contact, the simulator must interrupt the numerical integration of velocities and accelerations. Even for simple scenes, the number of discontinuities per frame time can rise to the millions. An efficient optimization-based animation (OBA) algorithm is presented which can simulate scenes with many convex three-dimensional bodies settling into stacks and other “crowded” arrangements. This algorithm simulates Newtonian (second order) physics and Coulomb friction, and it uses quadratic programming (QP) to calculate new positions, momenta and accelerations strictly at frame times. Contact points are synchronized at the end of each frame. The extremely small integration steps inherent to traditional simulation techniques are avoided. Non-convex bodies are simulated as unions of convex bodies. Links and joints are simulated successfully with bi-directional constraints. A hybrid of OBA and retroactive detection (RD) has been implemented as well. A review of existing work finds no other packages that can simulate similarly complex scenes in a practical amount of time.