Unified Simulation of Rigid and Flexible Bodies Using Position Based Dynamics

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dc.contributor.authorFrâncu, Mihaien_US
dc.contributor.authorMoldoveanu, Floricaen_US
dc.contributor.editorFabrice Jaillet and Florence Zaraen_US
dc.date.accessioned2017-04-22T17:18:18Z
dc.date.available2017-04-22T17:18:18Z
dc.date.issued2017
dc.description.abstractIn this paper we present a new position based approach for simulating rigid and flexible bodies with two-way coupling. This is achieved by expressing all the dynamics as constraints and running them in the same solver. Our main contribution is an accurate contact and Coulomb friction model based on a fixed point iteration of a cone complementarity problem. We formulate the problem as a nonlinear convex minimization at position level and solve it using a new accelerated form of projected Jacobi. We add elasticity to the constraints by means of regularization and show how to add more damping in a credible manner. We also use this viscoelastic model to build an accurate position-based finite element solver for soft bodies. The novelty of this solver is that it is no longer an approximation and it is based directly on the elasticity theory of continuous media.en_US
dc.description.sectionheadersSession 3
dc.description.seriesinformationWorkshop on Virtual Reality Interaction and Physical Simulation
dc.identifier.doi10.2312/vriphys.20171083
dc.identifier.isbn978-3-03868-032-1
dc.identifier.pages49-58
dc.identifier.urihttps://doi.org/10.2312/vriphys.20171083
dc.identifier.urihttps://diglib.eg.org:443/handle/10.2312/vriphys20171083
dc.publisherThe Eurographics Associationen_US
dc.subjectMathematics of Computing [G.1.0]
dc.subjectNumerical Analysis
dc.subjectNumerical algorithms Computer Graphics [I.3.5]
dc.subjectComputational Geometry and Object Modeling
dc.subjectPhysically based Modeling
dc.titleUnified Simulation of Rigid and Flexible Bodies Using Position Based Dynamicsen_US
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