Underwater rigid body dynamics

@article{Weimann2012UnderwaterRB,
  title={Underwater rigid body dynamics},
  author={Steffen Wei\ssmann and Ulrich Pinkall},
  journal={ACM Trans. Graph.},
  year={2012},
  volume={31},
  pages={104:1-104:7}
}
We show that the motion of rigid bodies under water can be realistically simulated by replacing the usual inertia tensor and scalar mass by the so-called Kirchhoff tensor. This allows us to model fluid-body interaction without simulating the surrounding fluid at all. We explain some of the phenomena that arise and compare our results against real experiments. It turns out that many real scenarios (sinking bodies, balloons) can be matched using a single, hand-tuned scaling parameter. We describe… CONTINUE READING
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