Numerical recipes in C (2nd ed.): the art of scientific computing
Numerical recipes in C (2nd ed.): the art of scientific computing
Large steps in cloth simulation
Proceedings of the 25th 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
Faking Dynamics of Ropes and Springs
IEEE Computer Graphics and Applications
Real-time soft tissue and suture simulation
Real-time soft tissue and suture simulation
Super-helices for predicting the dynamics of natural hair
ACM SIGGRAPH 2006 Papers
A Survey on Hair Modeling: Styling, Simulation, and Rendering
IEEE Transactions on Visualization and Computer Graphics
Path planning for deformable linear objects
IEEE Transactions on Robotics
ACM SIGGRAPH 2008 papers
A real-time simulator for interventional radiology
Proceedings of the 2008 ACM symposium on Virtual reality software and technology
On the Control of a Multi-robot System for the Manipulation of an Elastic Hose
IWINAC '09 Proceedings of the 3rd International Work-Conference on The Interplay Between Natural and Artificial Computation: Part II: Bioinspired Applications in Artificial and Natural Computation
Elevation cable modeling for interactive simulation of cranes
Proceedings of the 2008 ACM SIGGRAPH/Eurographics Symposium on Computer Animation
Haptic interaction with one-dimensional structures
Proceedings of the 16th ACM Symposium on Virtual Reality Software and Technology
A robust and efficient Lagrangian constraint toolkit for the simulation of 1D structures
Computer-Aided Design
ACM SIGGRAPH 2010 papers
Linked multi-component mobile robots: Modeling, simulation and control
Robotics and Autonomous Systems
Large-scale dynamic simulation of highly constrained strands
ACM SIGGRAPH 2011 papers
Modelling rod-like flexible biological tissues for medical training
3DPH'09 Proceedings of the 2009 international conference on Modelling the Physiological Human
SMI 2012: Short A nonlinear static approach for curve editing
Computers and Graphics
AMDO'12 Proceedings of the 7th international conference on Articulated Motion and Deformable Objects
Real-time simulation of long thin flexible objects in interactivevirtual environments
Proceedings of the 18th ACM symposium on Virtual reality software and technology
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In this paper, we present a system for simulating one dimensional flexible parts such as cables or hose. The modelling of bending and torsion follows the Cosserat model. For this purpose we use a generalized spring-mass system and describe its configuration by a carefully chosen set of coordinates. Gravity and contact forces as well as the forces responsible for length conservation are expressed in Cartesian coordinates. But bending and torsion effects can be dealt with more effectively by using quaternions to represent the orientation of the segments joining two neighbouring mass points. This augmented system allows an easy formulation of all interactions with the best appropriate coordinate type and yields a strongly banded Hessian matrix. An energy minimizing process accounts for a solution exempt from the oscillations that are typical of spring-mass systems. The whole system is numerically stable and can be solved at interactive frame rates. It is integrated in a virtual reality software for use in applications such as cable routing and assembly simulation.