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Intersection-free rigid body dynamics

Authors:

Zachary Ferguson,

Teseo Schneider,

Francisca Gil-Ureta,

Timothy Langlois,

Chenfanfu Jiang,

Danny M. Kaufman,

Daniele PanozzoAuthors Info & Claims

ACM Transactions on Graphics (TOG), Volume 40, Issue 4

Article No.: 183, Pages 1 - 16

https://doi.org/10.1145/3450626.3459802

Published: 19 July 2021 Publication History

Abstract

We introduce the first implicit time-stepping algorithm for rigid body dynamics, with contact and friction, that guarantees intersection-free configurations at every time step.

Our algorithm explicitly models the curved trajectories traced by rigid bodies in both collision detection and response. For collision detection, we propose a conservative narrow phase collision detection algorithm for curved trajectories, which reduces the problem to a sequence of linear CCD queries with minimal separation. For time integration and contact response, we extend the recently proposed incremental potential contact framework to reduced coordinates and rigid body dynamics.

We introduce a benchmark for rigid body simulation and show that our approach, while less efficient than alternatives, can robustly handle a wide array of complex scenes, which cannot be simulated with competing methods, without requiring per-scene parameter tuning.

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Index Terms

Intersection-free rigid body dynamics
1. Computing methodologies
  1. Computer graphics
    1. Animation
      1. Collision detection
      2. Physical simulation

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cover image ACM Transactions on Graphics

ACM Transactions on Graphics Volume 40, Issue 4

August 2021

2170 pages

ISSN:0730-0301

EISSN:1557-7368

DOI:10.1145/3450626

Editor:
Sylvain Paris
Adobe Inc.

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Published: 19 July 2021

Published in TOG Volume 40, Issue 4

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Zhang XTao BJiang DChen BTang DLiu X(2024)Novel Probabilistic Collision Detection for Manipulator Motion Planning Using HNSWMachines10.3390/machines1205032112:5(321)Online publication date: 7-May-2024
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