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 […]

Posted by christopherbatty on July 5th, 2014 | Comments Off on Defending Continuous Collision Detection against Errors Posted in Collisions, Deformables

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 […]

Posted by christopherbatty on June 27th, 2014 | Comments Off on Adaptive Nonlinearity for Collisions in Complex Rod Assemblies Posted in Collisions, Deformables, Hair/Rods/Rope, Rods

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 […]

Posted by christopherbatty on June 13th, 2014 | Comments Off on Adaptive Tetrahedral Meshes for Brittle Fracture Simulation Posted in Collisions, Fracture, Rigid bodies

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 […]

Posted by christopherbatty on May 10th, 2014 | Comments Off on Simulating Articulated Subspace Self-Contact Posted in Collisions, Deformables

Implicit Multibody Penalty-based Distributed Contact

Hongyi Xu, Yili Zhao, and Jernej Barbic The penalty method is a simple and popular approach to resolving contact in computer graphics and robotics. Penalty-based contact, however, suffers from stability problems due to the highly variable and unpredictable net stiffness, and this is particularly pronounced in simulations with time-varying distributed geometrically complex contact. We employ semi-implicit integration, […]

Posted by christopherbatty on March 28th, 2014 | Comments Off on Implicit Multibody Penalty-based Distributed Contact Posted in Collisions, Rigid bodies

Automatic Construction of Coarse, High-Quality Tetrahedralizations that Enclose and Approximate Surfaces for Animation

David A. Stuart, Joshua A. Levine, Ben Jones, Adam Bargteil Embedding high-resolution surface geometry in coarse control meshes is a standard approach to achieving high-quality computer animation at low computational expense. In this paper we present an effective, automatic method for generating such control meshes. The resulting high-quality, tetrahedral meshes enclose and approximate an input […]

Posted by christopherbatty on October 30th, 2013 | Comments Off on Automatic Construction of Coarse, High-Quality Tetrahedralizations that Enclose and Approximate Surfaces for Animation Posted in Collisions, Deformables

Object-Centric Parallel Rigid Body Simulation with Timewarp

John Koenig, Ioannis Karamouzas, Stephen J. Guy We present an object-centric formulation for parallel rigid body simulation that supports variable length integration time steps through rollbacks. We combine our object-centric simulation framework with a novel spatiotemporal data structure to reduce global synchronization and achieve interactive, real-time simulations which scale across many CPU cores. Additionally, we provide proofs that both our […]

Posted by christopherbatty on October 30th, 2013 | Comments Off on Object-Centric Parallel Rigid Body Simulation with Timewarp Posted in Collisions, Rigid bodies

A GPU-Based Streaming Algorithm for High Resolution Cloth Simulation

Min Tang, Ruofeng Tong, Rahul Narain, Chang Meng, Dinesh Manocha We present a GPU-based streaming algorithm to perform high-resolution and accurate cloth simulation. We map all the components of cloth simulation pipeline, including time integration, collision detection, collision response, and velocity updating to GPU-based kernels and data structures. Our algorithm perform intra-object and inter-object collisions, […]

Posted by christopherbatty on October 5th, 2013 | Comments Off on A GPU-Based Streaming Algorithm for High Resolution Cloth Simulation Posted in Cloth, Collisions, Deformables

Efficient Penetration Depth Approximation using Active Learning

Jia Pan, Xinyu Zhang, Dinesh Manocha We present a new method for efficiently computing the global penetration depth between two rigid objects using machine learning techniques. Our approach consists of two phases: offline learning and performing run-time queries. In the learning phase, we pre-compute an approximation of the contact space of a pair of intersecting […]

Posted by christopherbatty on August 15th, 2013 | Comments Off on Efficient Penetration Depth Approximation using Active Learning Posted in Collisions

Geometric Numerical Integration of Inequality Constrained Nonsmooth Hamiltonian Systems

Danny Kaufman, Dinesh Pai We consider the geometric numerical integration of Hamiltonian systems subject to both equality and “hard” inequality constraints. As in the standard geometric integration setting, we target long-term structure preservation. Additionally, however, we also consider invariant preservation over persistent, simultaneous, and/or frequent boundary interactions. Appropriately formulating geometric methods for these cases has […]

Posted by christopherbatty on October 18th, 2012 | Comments Off on Geometric Numerical Integration of Inequality Constrained Nonsmooth Hamiltonian Systems Posted in Collisions, Deformables, Rigid bodies
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