Article

Fast frictional dynamics for rigid bodies

Authors:

Danny M. Kaufman,

Timothy Edmunds,

Dinesh K. PaiAuthors Info & Claims

SIGGRAPH '05: ACM SIGGRAPH 2005 Papers

Pages 946 - 956

https://doi.org/10.1145/1186822.1073295

Published: 01 July 2005 Publication History

Abstract

We describe an efficient algorithm for the simulation of large sets of non-convex rigid bodies. The algorithm finds a simultaneous solution for a multi-body system that is linear in the total number of contacts detected in each iteration. We employ a novel contact model that uses mass, location, and velocity information from all contacts, at the moment of maximum compression, to constrain rigid body velocities. We also develop a new friction model in the configuration space of rigid bodies. These models are used to compute the feasible velocity and the frictional response of each body. Implementation is simple and leads to a fast rigid body simulator that computes steps on the order of seconds for simulations involving over one thousand non-convex objects in high contact configurations.

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Sassen JSchumacher HRumpf MCrane K(2024)Repulsive ShellsACM Transactions on Graphics10.1145/365817443:4(1-22)Online publication date: 19-Jul-2024
https://dl.acm.org/doi/10.1145/3658174
Du YLi YCoros SThomaszewski B(2024)Robust and Artefact‐Free Deformable Contact with Smooth Surface RepresentationsComputer Graphics Forum10.1111/cgf.15187Online publication date: 17-Oct-2024
https://doi.org/10.1111/cgf.15187
Xun LZheng GKruszewski A(2024)Cosserat-Rod-Based Dynamic Modeling of Soft Slender Robot Interacting With EnvironmentIEEE Transactions on Robotics10.1109/TRO.2024.338639340(2811-2830)Online publication date: 2024
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Index Terms

Fast frictional dynamics for rigid bodies
1. Computing methodologies
  1. Computer graphics
    1. Animation
      1. Physical simulation
    2. Shape modeling
  2. Modeling and simulation
    1. Simulation types and techniques
      1. Simulation by animation
2. Mathematics of computing
  1. Continuous mathematics
    1. Topology
      1. Geometric topology

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cover image ACM Conferences

SIGGRAPH '05: ACM SIGGRAPH 2005 Papers

July 2005

826 pages

ISBN:9781450378253

DOI:10.1145/1186822

Editor:
Markus Gross
Eidgenössische Technische Hochschule Zürich

Copyright © 2005 ACM.

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Published: 01 July 2005

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SIGGRAPH '05 Paper Acceptance Rate 98 of 461 submissions, 21%;

Overall Acceptance Rate 1,822 of 8,601 submissions, 21%

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Sassen JSchumacher HRumpf MCrane K(2024)Repulsive ShellsACM Transactions on Graphics10.1145/365817443:4(1-22)Online publication date: 19-Jul-2024
https://dl.acm.org/doi/10.1145/3658174
Du YLi YCoros SThomaszewski B(2024)Robust and Artefact‐Free Deformable Contact with Smooth Surface RepresentationsComputer Graphics Forum10.1111/cgf.15187Online publication date: 17-Oct-2024
https://doi.org/10.1111/cgf.15187
Xun LZheng GKruszewski A(2024)Cosserat-Rod-Based Dynamic Modeling of Soft Slender Robot Interacting With EnvironmentIEEE Transactions on Robotics10.1109/TRO.2024.338639340(2811-2830)Online publication date: 2024
https://doi.org/10.1109/TRO.2024.3386393
Lan LLi MJiang CWang HYang Y(2023)Second-order Stencil Descent for Interior-point HyperelasticityACM Transactions on Graphics10.1145/359210442:4(1-16)Online publication date: 26-Jul-2023
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