Conference 5–9 August 2012
Exhibition 7–9 August 2012
Los Angeles Convention Center

Rigid Bodies and Penalty Forces

Technical Papers

Rigid Bodies and Penalty Forces

Thursday, 9 August 10:45 AM - 12:15 PM | Los Angeles Convention Center, Room 502AB
Session Chair: Robert Bridson, The University of British Columbia

Underwater Rigid Body Dynamics

Without simulating the surrounding fluid at all, this approach simulates underwater bodies by replacing the usual inertia tensor and scalar mass with the so-called Kirchhoff tensor that models fluid-body interaction. The method can be integrated into existing physics engines for real-time simulations.

Steffen Weißmann
Technische Universität Berlin

Ulrich Pinkall
Technische Universität Berlin

Mass Splitting for Jitter-Free Parallel Rigid-Body Simulation

This paper describes a new parallel rigid-body solver that avoids jitter artifacts at low iteration counts and presents results for a GPU implementation that can simulate a pile of 5,000 objects with no visible jittering at over 60 FPS.

Richard Tonge
NVIDIA Corporation

Feodor Benevolenski
NVIDIA Corporation

Andrey Voroshilov
NVIDIA Corporation

Reflections on Simultaneous Impact

This paper addresses the problem of simultaneous impact with an algorithm that satisfies five important physical desiderata. It further proposes a complementary generalized restitution model that overcomes nontermination due to inelastic collapse. The model is coupled with a time-integration method and validated against a number of physical experiments.

Breannan Smith
Columbia University

Danny M. Kaufman
Columbia University

Etienne Vouga
Columbia University

Rasmus Tamstorf
Walt Disney Animation Studios

Eitan Grinspun
Columbia University

Continuous Penalty Forces

A simple algorithm for computing continuous penalty forces to determine collision response between rigid and deformable models bounded by triangle meshes. The algorithm provides a well-behaved solution in contrast to the traditional stability and robustness problems of penalty methods, induced by force discontinuities.

Min Tang
Zhejiang University

Dinesh Manocha
University of North Carolina at Chapel Hill

Miguel A. Otaduy
Universidad Rey Juan Carlos de Madrid

Ruofeng Tong
Zhejiang University