Analytical methods for dynamic simulation of non-penetrating rigid bodies
SIGGRAPH '89 Proceedings of the 16th annual conference on Computer graphics and interactive techniques
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
Rigid-Body Dynamics with Friction and Impact
SIAM Review
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
Robot Dynamics Algorithm
Interactive Simulation of Solid Rigid Bodies
IEEE Computer Graphics and Applications
Nonconvex rigid bodies with stacking
ACM SIGGRAPH 2003 Papers
A differential approach to graphical interaction
A differential approach to graphical interaction
Impulse-based dynamic simulation of rigid body systems
Impulse-based dynamic simulation of rigid body systems
A Fast Impulsive Contact Suite for Rigid Body Simulation
IEEE Transactions on Visualization and Computer Graphics
Fast frictional dynamics for rigid bodies
ACM SIGGRAPH 2005 Papers
Fast continuous collision detection for articulated models
SM '04 Proceedings of the ninth ACM symposium on Solid modeling and applications
Staggered projections for frictional contact in multibody systems
ACM SIGGRAPH Asia 2008 papers
Real-time deformation and fracture in a game environment
Proceedings of the 2009 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Volume contact constraints at arbitrary resolution
ACM SIGGRAPH 2010 papers
ACM SIGGRAPH Asia 2010 papers
A nonsmooth Newton solver for capturing exact Coulomb friction in fiber assemblies
ACM Transactions on Graphics (TOG)
Constraint-based simulation of adhesive contact
Proceedings of the 2010 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Toward high-quality modal contact sound
ACM SIGGRAPH 2011 papers
A hybrid iterative solver for robustly capturing coulomb friction in hair dynamics
Proceedings of the 2011 SIGGRAPH Asia Conference
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Reflections on simultaneous impact
ACM Transactions on Graphics (TOG) - SIGGRAPH 2012 Conference Proceedings
Automated constraint placement to maintain pile shape
ACM Transactions on Graphics (TOG) - Proceedings of ACM SIGGRAPH Asia 2012
Efficient collision detection for brittle fracture
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Efficient collision detection for brittle fracture
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Control of rotational dynamics for ground behaviors
Proceedings of the 12th ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Numerical methods for linear complementarity problems in physics-based animation
ACM SIGGRAPH 2013 Courses
FORK-1S: interactive compliant mechanisms with parallel state computation
Proceedings of the 18th meeting of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games
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Multibody dynamics are used in interactive and real-time applications, ranging from computer games to virtual prototyping, and engineering. All these areas strive towards faster and larger scale simulations. Particularly challenging are large-scale simulations with highly organized and structured stacking. We present a stable, robust, and versatile method for multibody dynamics simulation. Novel contributions include a new, explicit, fixed time-stepping scheme for velocity-based complementarity formulations using shock propagation with a simple reliable implementation strategy for an iterative complementarity problem solver specifically optimized for multibody dynamics.