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Detailed Rigid Body Simulation with Extended Position Based Dynamics
Author(s) -
Müller Matthias,
Macklin Miles,
Chentanez Nuttapong,
Jeschke Stefan,
Kim TaeYong
Publication year - 2020
Publication title -
computer graphics forum
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.578
H-Index - 120
eISSN - 1467-8659
pISSN - 0167-7055
DOI - 10.1111/cgf.14105
Subject(s) - computer science , solver , rigid body , constraint (computer aided design) , robustness (evolution) , trace (psycholinguistics) , rigid body dynamics , position (finance) , motion (physics) , algorithm , computational science , geometry , mathematics , classical mechanics , computer vision , physics , biochemistry , chemistry , linguistics , philosophy , finance , economics , gene , programming language
We present a rigid body simulation method that can resolve small temporal and spatial details by using a quasi explicit integration scheme that is unconditionally stable. Traditional rigid body simulators linearize constraints because they operate on the velocity level or solve the equations of motion implicitly thereby freezing the constraint directions for multiple iterations. Our method always works with the most recent constraint directions. This allows us to trace high speed motion of objects colliding against curved geometry, to reduce the number of constraints, to increase the robustness of the simulation, and to simplify the formulation of the solver. In this paper we provide all the details to implement a fully fledged rigid body solver that handles contacts, a variety of joint types and the interaction with soft objects.