Corpus ID: 11084512

Iterative Dynamics with Temporal Coherence

@inproceedings{Catto2005IterativeDW,
  title={Iterative Dynamics with Temporal Coherence},
  author={Erin S. Catto},
  year={2005}
}
This article introduces an iterative constraint solver for rigid body dynamics with contact. Our algorithm requires linear time and space and is easily expressed in vector form for fast execution on vector processors. The use of an iterative algorithm opens up the possibility for exploiting temporal coherence. A method for caching contact forces is presented that allows contact points to move from step to step and to appear and disappear. Examples are provided to illustrate the effectiveness of… Expand

Figures and Tables from this paper

Realtime Rigid Body Simulation Using Impulses
Using impulses for rigid body simulation is rapidly becoming a standard method for realtime simulations. This paper discusses how impulses can be used for modeling both collision and contact betweenExpand
Efficient and stable approach to elasticity and collisions for hair animation
TLDR
A hybrid direct and projective iterative algorithm for simulating hair that uses a comprehensive elasticity model with a well defined continuum limit and a novel treatment of bending and twisting forces is presented. Expand
Position-Based Time-Integrator for Frictional Articulated Body Dynamics
  • Zherong Pan, D. Manocha
  • Computer Science
  • 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • 2018
TLDR
A new time-integrator for modeling the frictional dynamics of articulated bodies that corresponds to a Newton-type optimization scheme that is guaranteed to converge so that it is stable with large timestep sizes. Expand
2D Simulation of Rigid Bodies
TLDR
This project consists of the design and implementation of a 2D rigid body physics engine in C + + that supports circles and arbitrary convex polygons. Expand
A Rigid Body Physics Engine for Interactive Applications
TLDR
This paper focuses on the discussion of some of the algorithms and techniques that were used on its basic implementation, and also on expansions and optimizations that were applied to specific parts of the developed simulator aiming faster and more stable results. Expand
Interactive constrained dynamics for rigid and deformable objects
TLDR
A constraint‐based approach to real‐time simulation of coupled rigid and deformable objects capable of providing two‐way interactions and is easily integrated into existing physics engines that use similar constraint solvers and is independent on the kind of deformable object paradigm chosen. Expand
ALGORITHMS OF MULTIBODY DYNAMICS SIMULATION USING ARTICULATED-BODY METHOD
In this paper we consider a real-time multibody dynamics simulation related to the video simulators. The articulated-body method and its modifications based on impulses are used to solve thisExpand
Constraint based physics solver
Rigid body simulations are complex systems and literature describing them is not easily accessible to programmers new to the subject. This is unfortunate as these simulations play an important roleExpand
Fluid-rigid body interaction simulation based on a stabilized ISPH method incorporated with the impulse-based rigid body dynamics
In fluid-rigid body interaction simulation based on the particle method, incompressible Smoothed Particle Hydrodynamic (ISPH) method is used to resolve the problem of fluid particles’ motion andExpand
Efficient and Accurate Collision Response for Elastically Deformable Models
TLDR
This article directly solves the Mixed Linear Complementarity Problem (MLCP) and omitting the construction of an LCP matrix and proposes to use a Conjugate Residual (CR) solver as the backbone of the collision response system. Expand
...
1
2
3
4
5
...

References

SHOWING 1-10 OF 16 REFERENCES
Fast contact force computation for nonpenetrating rigid bodies
TLDR
A new algorithm for computing contact forces between solid objects with friction that allows a mix of contact points with static and dynamic friction has proven to be considerably faster, simple, and more reliable than previous approaches. Expand
Nonconvex rigid bodies with stacking
TLDR
A novel approach to time integration merging it with the collision and contact processing algorithms in a fashion that obviates the need for ad hoc threshold velocities is proposed and shown that this approach matches the theoretical solution for blocks sliding and stopping on inclined planes with friction. Expand
Formulating Dynamic Multi-Rigid-Body Contact Problems with Friction as Solvable Linear Complementarity Problems
A linear complementarity formulation for dynamic multi-rigid-body contact problems with Coulomb friction is presented. The formulation, based on explicit Euler integration and polygonal approximationExpand
Advanced Character Physics
This paper explains the basic elements of an approach to physically-based modeling which is well suited for interactive use. It is simple, fast, and quite stable, and in its basic version the methodExpand
Stabilization of constraints and integrals of motion in dynamical systems
Abstract When a given system of differential equations is integrated by numerical and automatic integration it may occur that the solution at hand satisfies an analytical relation which is aExpand
Geometric Numerical Integration
The subject of this workshop was numerical methods that preserve geometric properties of the flow of an ordinary or partial differential equation. This was complemented by the question as to howExpand
Linear Complementarity Problem.
An article holding receptacle, such as an expandable envelope, is releasably secured to the steering column of an automotive vehicle by means of an elasticized band wrapped partly around the steeringExpand
Constraints in rigid body dynamics
  • In Game Programming Gems
  • 2004
Constraints in rigid body dynamics. In Game Programming Gems 4, pages 241–251
  • Charles River Media,
  • 2004
...
1
2
...