Intersection-free rigid body dynamics
Intersection-free rigid body dynamics
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DOI：
10.1145/3476576.3476773
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发表时间：
2021-07
期刊：
影响因子：
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通讯作者：
Z. Ferguson;Minchen Li;T. Schneider;Francisca T. Gil-Ureta;Timothy R. Langlois;Chenfanfu Jiang;D. Zorin;D. Kaufman;Daniele Panozzo
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作者：
Z. Ferguson;Minchen Li;T. Schneider;Francisca T. Gil-Ureta;Timothy R. Langlois;Chenfanfu Jiang;D. Zorin;D. Kaufman;Daniele Panozzo
我们引入了首个用于刚体动力学（包含接触和摩擦）的隐式时间步长算法，该算法保证在每个时间步都没有相交的构型。我们的算法在碰撞检测和响应中都对刚体所描绘的曲线轨迹进行了显式建模。对于碰撞检测，我们针对曲线轨迹提出了一种保守的窄相位碰撞检测算法，它将问题简化为一系列具有最小间隔的线性连续碰撞检测（CCD）查询。对于时间积分和接触响应，我们将最近提出的增量势接触框架扩展到了简约坐标和刚体动力学。我们引入了一个刚体模拟的基准，并表明我们的方法虽然效率不如其他方法，但能够稳健地处理各种各样复杂的场景，这些场景是竞争方法无法模拟的，而且不需要针对每个场景进行参数调整。
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.