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We present a general simulation approach for incompressible fluid--structureinteractions in a fully Eulerian framework using the reference map technique(RMT). The approach is suitable for modeling one or more rigid orfinitely-deformable objects or soft objects with rigid components interactingwith the fluid and with each other. It is also extended to control thekinematics of structures in fluids. The model is based on our previous Eulerianfluid--soft solver, and generalized to rigid structures by constraining thedeformation-rate tensor in a projection framework. Several numerical examplesare presented to illustrate the capability of the method.

An incompressible Eulerian method for fluid-structure interaction with mixed soft and rigid solids