Analytical methods for dynamic simulation of non-penetrating rigid bodies
SIGGRAPH '89 Proceedings of the 16th annual conference on Computer graphics and interactive techniques
Coping with friction for non-penetrating rigid body simulation
Proceedings of the 18th 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
Mathematical Programming: Series A and B
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
Rigid-Body Dynamics with Friction and Impact
SIAM Review
Timewarp rigid body simulation
Proceedings of the 27th 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
Realistic animation of rigid bodies
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Practical animation of liquids
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Robust treatment of collisions, contact and friction for cloth animation
Proceedings of the 29th annual conference on Computer graphics and interactive techniques
Impulse-based dynamic simulation of rigid body systems
Impulse-based dynamic simulation of rigid body systems
Optimization-based animation
Fast frictional dynamics for rigid bodies
ACM SIGGRAPH 2005 Papers
Velocity-based shock propagation for multibody dynamics animation
ACM Transactions on Graphics (TOG)
A Fast and Stable Penalty Method for Rigid Body Simulation
IEEE Transactions on Visualization and Computer Graphics
A Linear Time Algorithm for Collision Response of Articulated Rigid Bodies
IEICE - Transactions on Information and Systems
ACM SIGGRAPH Asia 2010 papers
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Abstract--A suite of algorithms is presented for contact resolution in rigid body simulation under the Coulomb friction model: Given a set of rigid bodies with many contacts among them, resolve dynamic contacts (collisions) and static (persistent) contacts. The suite consists of four algorithms: 1) partial sequential collision resolution, 2) final resolution of collisions through the solution of a single convex QP (positive semidefinite quadratic program), 3) resolution of static contacts through the solution of a single convex QP, 4) freezing of "stationary驴 bodies. This suite can generate realistic-looking results for simple examples yet, for the first time, can also tractably resolve contacts for a simulation as large as 1,000 cubes in an "hourglass.驴 Freezing speeds up this simulation by more than 25 times. Thanks to excellent commercial QP technology, the contact resolution suite is simple to implement and can be "plugged into驴 any simulation algorithm to provide fast and realistic-looking animations of rigid bodies.