Subspace Condensation: Full Space Adaptivity for Subspace Deformations

Yun Teng, Mark Meyer, Tony DeRose, Theodore Kim Subspace deformable body simulations can be very fast, but can behave unrealistically when behaviors outside the prescribed subspace, such as novel external collisions, are encountered. We address this limitation by presenting a fast, flexible new method that allows full space computation to be activated in the neighborhood […]

Parallel Particles (P^2): A Parallel Position Based Approach for Fast and Stable Simulation of Granular Materials

Daniel Holz Granular materials exhibit a large number of diverse physical phenomena which makes their numerical simulation challenging. When set in motion they flow almost like a fluid, while they can present high shear strength when at rest. Those macroscopic effects result from the material’s microstructure: a particle skeleton with interlocking particles which stick to […]

Continuous Collision Detection Between Points and Signed Distance Fields

Hongyi Xu, Jernej Barbic We present an algorithm for fast continuous collision detection between points and signed distance fields. Such robust queries are often needed in computer animation, haptics and virtual reality applications, but have so far only been investigated for polygon (triangular) geometry representations. We demonstrate how to use an octree subdivision of the […]

Fast and Exact Continuous Collision Detection with Bernstein Sign Classification

Min Tang, Ruofeng Tong, Zhendong Wang, Dinesh Manocha We present fast algorithms to perform accurate CCD queries between triangulated models. Our formulation uses properties of the Bernstein basis and Bezier curves and reduces the problem to evaluating signs of polynomials. We present a geometrically exact CCD algorithm based on the exact geometric computation paradigm to […]

Optimization Integrator for Large Time Steps

Theodore F. Gast, Craig Schroeder Practical time steps in today’s state-of-the-art simulators typically rely on Newton’s method to solve large systems of nonlinear equations. In practice, this works well for small time steps but is unreliable at large time steps at or near the frame rate, particularly for difficult or stiff simulations. We show that […]

Efficient Denting and Bending of Rigid Bodies

Saket Patkar, Mridul Aanjaneya, Aric Bartle, Minjae Lee, Ronald Fedkiw We present a novel method for the efficient denting and bending of rigid bodies without the need for expensive finite element simulations. Denting is achieved by deforming the triangulated surface of the target body based on a dent map computed on-the-fly from the projectile body using a […]

Defending Continuous Collision Detection against Errors

Huamin Wang Numerical errors and rounding errors in continuous collision detection (CCD) can easily cause collision detection failures if they are not handled properly. A simple and effective approach is to use error tolerances, as shown in many existing CCD systems. Unfortunately, finding the optimal tolerance values is a difficult problem for users. Larger tolerance […]

Adaptive Nonlinearity for Collisions in Complex Rod Assemblies

Danny M. Kaufman, Rasmus Tamstorf, Breannan Smith, Jean-Marie Aubry, Eitan Grinspun 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 […]

Adaptive Tetrahedral Meshes for Brittle Fracture Simulation

Dan Koschier, Sebastian Lipponer, Jan Bender We present a method for the adaptive simulation of brittle fracture of solid objects based on a novel reversible tetrahedral mesh refinement scheme. The refinement scheme preserves the quality of the input mesh to a large extent, it is solely based on topological operations, and does not alter the […]

Simulating Articulated Subspace Self-Contact

Yun Teng, Miguel Otaduy, Theodore Kim We present an efficient new subspace method for simulating the self-contact of articulated deformable bodies, such as characters. Self-contact is highly structured in this setting, as the limited space of possible articulations produces a predictable set of coherent collisions. Subspace methods can leverage this coherence, and have been used in the past to accelerate […]