Monthly Archives: July 2017

Vittorio Megaro, Espen Knoop, Andrew Spielberg, David I.W. Levin, Wojciech Matusik,Markus Gross, Bernhard Thomaszewski, Moritz Bächer In this paper, we present an optimization-based approach for the design of cable-driven kinematic chains and trees. Our system takes as input a hierarchical assembly consisting of rigid links jointed … Continue reading →

Kenny Erleben Iterative methods are popular for solving contact force problems in rigid body dynamics. They are loved for their robustness and surrounded by mystery as to whether they converge or not. We provide a mathematical foundation for iterative (PROX) … Continue reading →

Mattia Montanari, Nik Petrinic, and Ettore Barbieri This article presents a new version of the Gilbert-Johnson-Keerthi (GJK) algorithm that circumvents the shortcomings introduced by degenerate geometries. The original Johnson algorithm and Backup procedure are replaced by a distance subalgorithm that … Continue reading →

Etienne Vouga, Breannan Smith, Danny M. Kaufman, Rasmus Tamstorf, Eitan Grinspun Iterative algorithms are frequently used to resolve simultaneous impacts between rigid bodies in physical simulations. However, these algorithms lack formal guarantees of termination, which is sometimes viewed as potentially … Continue reading →