A new boundary force is proposed to solve rigid body interaction in SPH (Smoothed Particle Hydrodynamics). The new boundary force is impulse-based rather than potential-based. The impulse is converted to a boundary force with a fundamental observation that the impulse is a momentum change which is a result of a force acting on an object during a time interval. Our new impulse-based boundary force gives more stable and accurate results in all kinds of rigid body interactions, especially in rigid-rigid interaction since our boundary force faithfully reflects the dynamic features of rigid body. With our impulse-based boundary force, SPH fluid solver is capable of full two way interaction of fluid and rigid body and it turns to be a particle-based rigid body solver if only rigid bodies are simulated without fluid.
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