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We develop a method for reliable simulation of elastica in complex contact scenarios. Our focus is on firmly establishing three parameter-independent guarantees: that simulations of well-posed problems (a) have no interpenetrations, (b) obey causality, momentum- and energy-conservation laws, and (c) complete in finite time. We achieve these guarantees(More)
Resolving simultaneous impacts is an open and significant problem in collision response modeling. Existing algorithms in this domain fail to fulfill at least one of five physical desiderata. To address this we present a simple generalized impact model motivated by both the successes and pitfalls of two popular approaches: pair-wise propagation and linear(More)
We consider the simulation of dense foams composed of microscopic bubbles, such as shaving cream and whipped cream. We represent foam not as a collection of discrete bubbles, but instead as a continuum. We employ the <i>material point method</i> (MPM) to discretize a hyperelastic constitutive relation augmented with the Herschel-Bulkley model of(More)
We develop an algorithm for the efficient and stable simulation of large-scale elastic rod assemblies. We observe that the time-integration step is severely restricted by a strong nonlinearity in the response of stretching modes to transversal impact, the degree of this nonlinearity varying greatly with the shape of the rod. Building on these observations,(More)
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