Fast simulation of quasistatic rod deformations for vr applications
Fast simulation of quasistatic rod deformations for vr applications
复制标题
VR 应用准静态杆变形的快速模拟
DOI：
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发表时间：
2008
期刊：
影响因子：
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通讯作者：
Robert Bohlin
中科院分区：
文献类型：
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作者：
J. Linn;T. Stephan;J. S. Carlsson;Robert Bohlin
摘要我们提出了一个弹性杆模型，|基于基尔霍夫的几何精确理论|适用于VR或功能DMU应用中准静态变形的快速模拟。与VR应用中通常使用的“质量和弹簧”类型的简单模型不同，我们的模型提供了弯曲和扭转的适当耦合。计算方法包括一个变分公式结合了一个nite dierence离散的连续模型。采用非线性CG方法，通过能量极小化方法，得到了连续变化边界条件下平衡方程的近似解。我们的模型的计算性能被证明是足够的柔性电缆在装配仿真的交互操作。
Summary. We present a model of exible rods | based on Kirchhoff\'s geometrically exact theory | which is suitable for the fast simulation of quasistatic deformations within VR or functional DMU applications. Unlike simple models of \"mass & spring\" type typically used in VR applications, our model provides a proper coupling of bending and torsion. The computational approach comprises a variational formulation combined with a nite dierence discretization of the continuum model. Approximate solutions of the equilibrium equations for sequentially varying boundary conditions are obtained by means of energy minimization using a nonlinear CG method. The computational performance of our model proves to be sucient for the interactive manipulation of exible cables in assembly simulation.