Detailed Rigid Body Simulation with Extended Position Based Dynamics
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Date
2020
Journal Title
Journal ISSN
Volume Title
Publisher
The Eurographics Association and John Wiley & Sons Ltd.
Abstract
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.
Description
@article{10.1111:cgf.14105,
journal = {Computer Graphics Forum},
title = {{Detailed Rigid Body Simulation with Extended Position Based Dynamics}},
author = {Müller, Matthias and Macklin, Miles and Chentanez, Nuttapong and Jeschke, Stefan and Kim, Tae-Yong},
year = {2020},
publisher = {The Eurographics Association and John Wiley & Sons Ltd.},
ISSN = {1467-8659},
DOI = {10.1111/cgf.14105}
}