Ieee Transactions on Visualization and Computer Graphics Dynamic Simulation of Articulated Rigid Bodies with Contact and Collision
Ieee Transactions on Visualization and Computer Graphics Dynamic Simulation of Articulated Rigid Bodies with Contact and Collision
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通讯作者：
Rachel Weinstein;Joseph Teran;Ron Fedkiw
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作者：
Rachel Weinstein;Joseph Teran;Ron Fedkiw
我们提出一种新颖的方法，用于动态模拟频繁且不可预测地接触和碰撞的关节刚体。为了利用针对非凸体、多次碰撞、大型接触组、堆叠等的现有算法，我们使用最大坐标而非广义坐标，并采用基于冲量的方法，这使我们能够以统一的方式处理关节、接触和碰撞。传统的约束处理方法容易出现漂移，我们提出一种新颖的预稳定方法，该方法不像鲍姆加特稳定方法那样需要可调节的潜在刚性参数。这与后稳定方法不同，我们在将刚体移动到新位置之前计算允许的轨迹，而不是在事后（当难以纳入接触和碰撞的影响时）对其进行校正。动量和角动量采用后稳定技术。我们的方法适用于任何用于指定有效关节约束的黑箱方法，对于任意闭环或分支不需要特殊考虑。此外，与许多其他在物体数量上是线性的但在辅助接触和碰撞约束数量上不是线性的方法不同，我们的实现无论是在物体数量上还是在辅助接触和碰撞约束数量上都是线性的。
— We propose a novel approach for dynamically simulating articulated rigid bodies undergoing frequent and unpredictable contact and collision. In order to leverage existing algorithms for nonconvex bodies, multiple collisions, large contact groups, stacking, etc., we use maximal rather than generalized coordinates and take an impulse based approach that allows us to treat articulation, contact and collision in a unified manner. Traditional constraint handling methods are subject to drift, and we propose a novel pre-stabilization method that does not require tunable potentially stiff parameters as does Baumgarte stabilization. This differs from post-stabilization in that we compute allowable trajectories before moving the rigid bodies to their new positions, instead of correcting them after the fact when it can be difficult to incorporate the effects of contact and collision. A post-stabilization technique is used for momentum and angular momentum. Our approach works with any black box method for specifying valid joint constraints, and no special considerations are required for arbitrary closed loops or branching. Moreover, our implementation is linear both in the number of bodies and in the number of auxiliary contact and collision constraints, unlike many other methods that are linear in the number of bodies but not in the number of auxiliary constraints.