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Detailed Rigid Body Simulation with Extended Position Based Dynamics

Matthias Müller, Miles Macklin, Nuttapong Chentanez, Stefan Jeschke, Tae-Yong Kim

We present a rigid body simulation method that can resolve small temporal and spatial details by using a quasi explicit integration scheme that is unconditionally stable. Traditional rigid body simulators linearize constraints because they operate on the velocity level or solve the equations of motion implicitly thereby freezing the constraint directions for multiple iterations. Our method always works with the most recent constraint directions. This allows us to trace high speed motion of objects colliding against curved geometry, to reduce the number of constraints, to increase the robustness of the simulation, and to simplify the formulation of the solver. In this paper we provide all the details to implement a fully fledged rigid body solver that handles contacts, a variety of joint types and the interaction with soft object

Detailed Rigid Body Simulation with Extended Position Based Dynamics

Posted by christopherbatty on October 3rd, 2020 Posted in Uncategorized
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