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Multibody dynamics are used in interactive and real-time applications, ranging from computer games to virtual prototyping, and engineering. All these areas strive towards faster and larger scale simulations. Particularly challenging are large-scale simulations with highly organized and structured stacking. We present a stable, robust, and versatile method(More)
Interactive rigid body simulation is an important part of many modern computer tools, which no authoring tool nor game engine can do without. Such high performance computer tools open up new possibilities for changing how designers, engineers, modelers and animators work with their design problems. This paper is a self contained state-of-the-art report on(More)
In this paper, we present a method for animating multiphase flow of immiscible fluids using unstructured moving meshes. Our underlying discretization is an unstructured tetrahedral mesh, the deformable simplicial complex (DSC), that moves with the flow in a Lagrangian manner. Mesh optimization operations improve element quality and avoid element inversion.(More)
We present a novel approach to fluid simulation, allowing us to take into account the surface energy in a precise manner. This new approach combines a novel, topology-adaptive approach to deformable interface tracking , called the deformable simplicial complexes method (DSC) with an optimization-based, linear finite element method for solving the(More)
In this paper we propose a simple technique for tetrahedral mesh improvement without inserting Steiner vertices, concentrating mainly on boundary conforming meshes. The algorithm makes local changes to the mesh to remove tetrahedra which are poor according to some quality criterion. While the algorithm is completely general with regard to quality criterion,(More)
Interactive rigid body simulation is important for robot simulation and virtual design. A vital part of the simulation is the computation of contact forces. This paper addresses the contact force problem, as used in interactive simulation. The contact force problem can be formulated in the form of a nonlinear complementarity problem (NCP), which can be(More)
In this paper, we present a novel approach to three dimensional human motion estimation from monocular video data. We employ a particle filter to perform the motion estimation. The novelty of the method lies in the choice of state space for the particle filter. Using a non-linear inverse kinematics solver allows us to perform the filtering in end-effector(More)
We present the mathematical foundation of a fluid animation method for unstructured meshes. Key contributions not previously treated are the extension to include diffusion forces and higher order terms of non-linear force approximations. In our discretization we apply a fractional step method to be able to handle advection in a numerically simple Lagrangian(More)